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DM312 - W9

Robot Classification, Applications, Kinematics and Dynamics

QuestionAnswer
What can Cartesian Robot's do? pick and place, assembly, palletising
What can Cylindrical Robot's do? machine tool servicing, palletising
What can Delta Robot's do? very high speed pick and place (up to 300 picks per minute)
What can SCARA Robot's do? high speed pick and place, assembly, higher payload capability than Delta, rigid in the Z-axis and compliant/pliable in the XY-axes, which allowed it to adapt to holes in the XY-axes
What can Jointed Arm Robot's do? spot and arc welding, paint spraying, adaptable
What can Polar/Spherical Robot's do? heavy duty manipulation (now uncommon)
What are the 3 Drive Methods? Electric, Hydraulic, Pneumatic
Why use an Electric Drive Method? most common due to ease of control, low noise
Why use an Hydraulic Drive Method? very heavy duty manipulation, less common
Why use an Pneumatic Drive Method? simple movements, high speed, low cost
What are 5 control methods? Servo, Non-Servo, Point-to-Point, Point to Point with Coordinated Path line tracking, Continuous Path.
What applications do you use a Servo control method in? full speed and acceleration control
What applications do you use a Non-Servo control method in? only for very light loads
What applications do you use a Point-to-Point control method in? assembly, palletising, pick and place
What applications do you use a Point to Point with Coordinated Path line tracking control method in? spot welding car bodies on a moving conveyor
What applications do you use a Continuous Path control method in? spray painting, arc welding, fettling
What are 3 Programming Methods? Teach by Pendant, Lead Through, Off-Line
Why use a Teach by Pendant Programming Method? This is an online method which can be used to perform assembly, pick and place, welding tasks.
Why use a Lead Through Programming Method? This is an online method which can be used to perform spray painting, casting tasks.
Why use a Off-Line Programming Method? Code can be changed for a new task while the robot is running so old tasks, such as assembly and welding, are not interrupted.
What is online programming? Online methods require direct use of a robot in order to program it.
What benefit do Parallel or Delta robots have? This approach is that it reduces the weight within the arms and therefore provides very high acceleration and speed capability
What Applications do Parallel or Delta robots have? The main application is picking, particularly on packing lines for the food industry, and also assembly applications
What are the 6 Joint types? Revolute, Prismatic, Screw, Cylindrical, Spherical, Planar
What are the most common Joints used? Most manipulators have revolute joints or have sliding joints called prismatic joints.
Created by: Hcorm002
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