Robotics Quizzies 4 , 5 , and 6

I WILL GET AN A ON MY ROBOTICS MIDTERM EXAM! I WILL PASS WITH A HIGH SCORE! EVERYTHING WILL BE OKAY!

3 broad categories of robots are …

• stationary

• wheeled

• walking

SCARA stand for …

Selective Compliance Articulated Robot Arm

What type of robot only has translational movement?

Cartesian

This is an example of a ____________ drive system.

harmonic

Name an **industrial** task, a robot end effector might handle. **Your answer should end in "ing"**

• material handling

• welding

• painting

• drilling

• deburring

• palletizing

• spraying

• picking

• placing

• assembling

• 3D printing

• engraving

• machining

• operating

The Unimate is an example of __________ robot geometry.

polar

In RoboDK, what does this menu icon represent?

The online library

If you are having difficulty with a particular tool in RobotDK, the easiest way to get more information is to ....

press F1

Which coordinate system is at the base (AXIS 1) of an industrial robot?

world

What are 2 conditions that must be met in order to jog the Kuka robot arm? 

• Robot must be in Teach Mode

• The enabling switch must be pressed

Which 3 statements below accurately describes the WORLD coordinate system?

• The arm can move linear in, and rotate in X , Y , and Z

• By default, the world coordinate system is located in the base of the robot

• All 6 axes may move for the robot arm to attain a position in X , Y , or Z

What are the 2 predetermined ***FEATURES*** on the Universal robot?

• Base

• Tool

Which symbol represents the Tool Coordinate system?

d

This is an example of …

the right hand rule

Which set of coordinates best describe where the pallet is located in respect to the base of the robot?

X = 100 , Y = 300 , Z = 10

3 places a robot could receive a **digital** input signal  include:

• safety equipment (light curtain)

• a light sensor

• an external switch is on (1) or off (0).

Match the axis rotation with its movement description.

• rotation about the X axis : roll

• rotation about the Y axis : pitch

• rotation about the Z axis : yaw

• swing

Where on the RoboDK screen  would you jog the shoulder axis (Axis 2)?

D

This screen shows where you would.....

jog the robot by axis

A tool (attached to the flange of a robot arm) coordinate system will always be based on the ____________.

TCP

On **the Kuka robot**, jogging the robot arm can only occur when in ____________ mode, when the ____________ _____________ is in the middle position.

• manual

• enabling switch

How many time do you have to press an ON or POWER ON button to activate the Universal Robot?

3

_______________  _________________ jogging allows the TCP to move along the X-Y-Z axes.

tool coordinate

**FEATURE** on a Universal Robots is equal to a ________________ on RoboDK.

FRAME

The _____________________________________is the point on the tool/end of arm system where weight is distributed evenly on each side (of the point).

center of gravity

An irregular pose of an articulated arm robot, where joints are aligned, and cannot resolve the next position is called __________________.

singularity

Which 2 of these are **characteristics** of a MoveL and MoveC commands?

• The tool follows a defined path

• The path is predictable

Which would be the best time to use MoveJ?

Moving through an open space with no obstructions

RoboDK is an example of

Flexible Offline programming

This type of robot move has a constant TCP speed and “blends” the waypoints.

MoveP

On the UR robot, what are the units used for the Tool Speed?

mm/sec

What would be 2 reasons for using a WAIT or PAUSE command in a computer program?

• After a call for a gripper to open or close

• Waiting for an input signal from a sensor

What are 3 characteristics of LINKED waypoints?

• It is possible to re-use the same waypoint in the program

• They share their position

• Each linked waypoint can have unique speed and acceleration

What are 2 differences between a MoveL ,and a MoveL with a blend?

• with a blend the robot and will not stop at the waypoint

• with a blend the robot will take a curved path around the waypoint

What is a "Popup" used for in a program?

It will pause the program and wait for the operator to either stop the program or click "Continue".

Which motion produces a predictable robot path?

point to point motion commands with path control

If a change is made in a programming point or waypoint, you should always run the program _____________________.

at reduced velocity, to test its performance

The only way to resolve a "singularity" is to....

put the robot in joint jogging mode and jog the affected joint

For a MoveC you need 3 things.

• starting point

• via point

• end point