Robotics II and III - ArmBot and Omni Directional Robots Flashcards

Vocabulary flashcards for Robotics II and III, covering ArmBot and Omni Directional Robots.

Assembly Line Gains

Reduced cost of production, enabled mass production, accelerated industrial development.

Yaw

Rotation of shoulder around the base.

Roll

Rotation of shoulder to move the claw forward, backward, up, and down.

Pitch

Rotation of the claw to close and open.

ArmBot Shoulder Components

Yaw drive, mounting base, and balancing structure.

Balancing Structure Components

Control unit and battery

Purpose of Balancing Structure Experiment

Visualize the maximum length that this structure can handle before tilting

Fixed Link (Four-Bar Linkage)

Hidden Link

Basis for Classifying Links

Number of joints in the links.

Part 1 (Pushing Power Applied)

Input link

Part 2 in Linkage

Intermediate link

Part 3 in Linkage

Output link

Part 4 in Linkage

Fixed link

Grashof's Theorem

There exists at least one link which can fully revolve with respect to the other three links if L + S ≤ P + Q, where S, L, P, and Q are the lengths of the shortest, longest, and other two links, respectively.

Motor Encoder Purpose in ArmBot

Prevents repetition of code blocks forever.

Modularity

Used to describe structures that can be broken down into smaller parts, useful in robots for fast assembly and disassembly.

Omni Directional Wheels

Wheels that can move in multiple directions.

Characteristics of Omni Wheels

Rollers around the circumference and sideways movement without rotating.

Uses of Omni Wheels

Allow transportation of heavy loads in narrow spaces and used in cars and wheelchairs.

Direction of Output Gears (Crown-Spur)

Output gear 1 rotates in the opposite direction of output gear 2.

Number of Motors in SABIS Omni-bot

Two

Motion of Wheel C (SABIS Omni-bot)

Linear

Motion of Wheels A and B (SABIS Omni-bot)

Curvilinear

Benefit of Gear A (SABIS Omni-bot)

Maintain Stability

Behavior of SABIS Omni-bot (Wheel C Activated)

It moves to the right/left in a linear motion.

Angle Between Wheels (Tri-wheeler)

120 degrees

Resulting Direction of Robot (Tri-wheeler)

North West