Robotic in CIM chapter 7

If you have a limit switch in the field that has the actuator in the wrong position and a removeable head unit, how would you correct this situation?

You would loosen the head off of the actuator and adjust it to the correct position and then you would tighten the head back onto the actuator

What do you need to know when selecting a limit switch

How much AMPS the contacts must withstand
How much force the object contacting the limit switch can generate
How fast the switch needs to respond

Describe the operation of an inductive proximity switch

When the target enters the sensing range, the amplitude of the electromagnetic field decreases until it reaches its operating point at which time the sensor's contacts change state. When the target leaves the field it returns to its normal state

Describe the operation of a capacitive proximity switch

When the target enters the sensing range, the amplitude of the electrostatic field increases until it reaches its operating point at which time the sensor's contacts change state. When the target leaves the sensing range the contacts return back tot heir normal state

Briefly describe how through-beam, retroreflective, and diffuse photoelectric switches operate

Through-beam: photoelectric sensors separate the transmitter and the receiver into different units, placed opposite each other. The system is often set up to change state when the signal is broken
Retroreflective: photoelectric sensors place the transmitter and the receiver in one assembly, and often use something like a bicycle reflector to return the emitted light to the receiver. The system is often set up to change state when the beam is broken

Which types of information are we looking for with tactile sensors

Tactile sensing is about determining how much force is applied, what is the shape of the part, how do we have it gripped, is the part hot or cold, basically the same kinds of sensing tasks that skin performs for the human body

Which types of information are we looking for with the impact sensors

It is looking for collisions with objects that are in the intended movement path and changing the motion of the robot

How do we commonly monitor impact today

We either monitor the amperage the motor uses or insert sensing devices designed to detect impacts

What is the difference between an open loop control system and a closed loop control system

Open loop systems works on the assumption that the control pulse, whatever it may be, activates the motion system and the robot performs as expected. Closed loop systems send out the control pulse, whatever it may be, to initiate movement and hen receives a feedback signal that confirms movement and in many cases which direction and how far.

What are the six main criteria for selecting a sensor

M. O. F. A. T. C

Retroreflective: photoelectric sensors place the transmitter and the receiver in one assembly, and often use something like a bicycle reflector to return the emitted light to the receiver. The system is often set up to change state when the beam is broken

Diffuse: photoelectric sensors place the transmitter and receiver in one unit, but in this case, only a small amount of returned light is needed to activate the sensor. Instead of a reflector, the part is what returns that light, like when light reflects off of a wall from a lightbulb

Measurements needed to be taken

Operating environment

Fail-safe requirements

Accuracy

Type of output

Cost versus performance