Introduction to Robotics

Vocabulary flashcards covering fundamental robotics concepts, robot system components, classifications, mechanical joints, control types, actuator drives, and degrees of freedom.

Robota

The Slavic word meaning hard work, from which the word robot originates.

Industrial Robot

A freely programmable, program-controlled handling device.

Components of Robot Systems

The five essential parts comprising a robot system: Manipulator, Means for programming, Controller, End effector, and Power supply.

Mechanical Joints

Joint structures in a robot manipulator that provide relative motion, such as Revolute, Prismatic, Cylindrical, Screw, Cardan, and Spherical joints.

Work Envelope

The volume of space generated by a robot's movements, determined by coordinate system, joint arrangement, manipulator segment lengths, and wrist reach.

Revolute Work Envelope

A work envelope configuration generated by an articulated arm that requires two views (side view and top view) to fully represent its generated volume.

Servo (closed-loop) Control System

A control system type that uses a feedback signal to detect and correct errors, allowing precise control of position or velocity.

Non-servo (open-loop) Control System

A control system type that has no feedback signal, typically used for limited sequence or pick-and-place robots.

Electric Actuator Drive

An actuator drive system utilizing Alternating Current (AC) Servo Motors, Direct Current (DC) Servo Motors, or Stepper Motors.

Hydraulic Drive System

A fluid power drive system using oil with hydraulic cylinders and motors.

Pneumatic Drive System

A fluid power drive system using compressed air with pneumatic cylinders and motors.

Degrees of Freedom (DOF)

The description of a robot's freedom to move in 3-D space (forward/backward, up/down, left/right), where each degree of freedom requires a joint.

Human Hand DOF

An anatomical structure consisting of 27 bones that provides 22 degrees of freedom.

3 Basic Degrees of Freedom

The primary translation axes of motion: X axis (forward & backward / in and out), Y axis (left to right / side to side), and Z axis (up and down).

Robot Wrist

A component that increases end effector flexibility by supplying three additional (minor) degrees of freedom: pitch, yaw, and roll.

Pitch

The bend or up and down movement of the robot wrist.

Yaw

The side to side movement of the robot wrist.

Roll

The swivel or rotation of the robot wrist.