Intro to Robotics

A type L joint (Linear)

Translational motion between input link and output link; axis of two links are parallel

A type O joint (Orthogonal)

Translational motion between input link and output link; axis of two links are perpendicular

A type R joint (Rotational)

A joint type with rotational motion between input link and output link; axis of rotation perpendicular to axes of input and output link

A type T joint (Twisting)

A joint type with rotational motion between input link and output link; axis of rotation parallel to axes of input and output link

A type V joint (Revolving)

A joint type with rotational motion between input link and output link; axis of input link parallel to axis of rotation, axis of output link perpendicular to axis of rotation

The main sections of a robot arm

Body and arm assembly, wrist assembly, end effector

Polar (Spherical) Configuration

Twisting, Rotational, Linear (TRL)

Cylindrical Configuration

Twisting, Linear, Orthogonal (TLO)

Cartesian Coordinate Configuration

Linear, Orthogonal, Orthogonal (LOO)

Jointed Arm (Articulated Arm) Configuration

Twisting, Rotational, Rotational (TRR)

SCARA Configuration

Revolving, Rotational, Orthogonal (RVO)

End-of-Arm Tooling (EOAT) or End Effector

Robot tooling that performs work

Work Envelope

The space within which the end effector can
be moved without limitations

Cartesian Work Envelope

Defined Cube or Rectangle

Cylindrical Work Envelope

Defined Cylinder

Spherical (Polar) Work Envelope

Defined Portion of a Sphere or Two Spheres

Articulated (Jointed Arm, Revolute or
Anthropomorphic) Work Envelope

Irregular

SCARA Work Envelope

Cylindrical

Hydraulic System

Hydraulic fluid flows to actuators through
control valves

Hydraulic System Pros

High power to size ratio

Hydraulic System Cons

Leak, fire hazard, support equipment increases cost, high noise level, maintenance, regular fluid testing

Pneumatic System

Power transferred by a compressible gas under
pressure instead of oil

Pneumatic System Pros

Availability, inexpensive, safe leaks, fast operation and short cycle time

Pneumatic System Cons

No feedback control

Electrical System

Precision electric motor that causes rotational
motion proportional to an electric command
signal from a servo amplifier

Electrical System Pros

No hydraulics, no contamination, low noise, fastest arm motion and quickest response

Electrical System Cons

Limited payload capacity,

JOINT Mode

Non cartesian coordinate system; moves each joint individually

WORLD Mode

Cartesian coordinate system; moves based on XYZ system of the whole robot

TOOL Mode

Cartesian coordinate system; moves based on XYZ system of the tool center point

J1

Base or Wiast

J2

Shoulder

J3

Elbow

J4

Rotation of the arm

J5

Pitch of the wrist

J6

Rotation of the face plate

Closed Loop (Delta, Spider, Parallel) Configuration

Both passive and active (powered) joints and links

Gripper

EOAT that grasps and manipulates objects during work cycle programs

Dual Gripper

EOAT that is capable of loading and unloading parts in one arm motion

Controller

Directs the operation and motion of the robot and communicates with external devices

SOP

Standard Operator Panel

Local Mode

A Fanuc Robot software mode used for application development and testing

Remote Mode

A Fanuc Robot software mode used when running production with other peripheral equipment. The controller listens to external signals such as a PLC or a Remote Operator Panel to start a program

Mode Select Switch

A key switch installed on the SOP that is used to select the most appropriate way to operate the robot, depending on operating conditions and situations

T1 mode

A Fanuc Robot mode determined by the position of the SOP key switch that is for test operation. Cartesian speed is less than 250 mm/sec and Joint speed is less than 10% of the maximum override speed.

T2 mode

A Fanuc Robot mode determined by the position of the SOP key switch that is for test operation up to 100% of robot speed (not available with our controller)

AUTO mode

A Fanuc Robot mode determined by the position of the SOP key switch that is for running programs from the Operator Panel or PLC. Robot operated at the specified maximum speed