Robotic Systems and Kinematics

These flashcards cover key concepts related to robotic systems, kinematics, types of robots, joints, and programming methods.

The work envelope of a __-coordinate robot generates a rectangular box.

Cartesian

An articulated-coordinate robot is characterized by the configuration __, which means all three axes are revolute.

RRR

A __ robot consists of two revolute joints and one prismatic joint and operates in a horizontal plane.

SCARA

In a __-coordinate robot, replacing the first joint’s prismatic joint with a revolute joint yields the configuration RPP.

Cylindrical

When the configurations include __, the work envelope generated is the volume between concentric spheres.

RRP

A __ joint allows rotational motion about an axis perpendicular to the axes of input and output links.

Rotational

The kinematic decoupling principle relates to the number of __ in a robotic system.

constraints

The Denavit-Hartenberg convention involves establishing a __ coordinate system at the supporting base with the Zo axis along the axis of motion of joint 1.

right-handed orthonormal

The __ is a crucial element in robot programming that allows for manual control of the robot to teach it specific movements.

Teach Pendant

The __ method of robot programming involves taking the robot out of production to program it while offline, which reduces downtime.

Offline Programming