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An automatic apparatus or device that performs functions ordinarily ascribed to human beings or operates with what appears to be almost human intelligence
2. Robot Institute of America A robot is a re-programmable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of variety of tasks
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Analysis and integration of the overall system. Signal conditioning and Control.
Computer Science
2 Design of the logic, intelligence or adaptability, networking
Robot Characteristics
1. The following definition are used to characterized robot specification i. Payload ii. Reach iii. Precession iv. Repeatability
Robotics and automation can, in many situations increase productivity, safety,efficiency, quality and consistency of product
Robot can work in hazardous environments without the need of life support, comfort or concern about safety Robot needs no environmental comfort, such as lightning, air conditioning, ventilation and noise protection
Robots work continuously without experiencing fatigue or boredom, do not get mad, do not have hangovers and need medical insurance or vacation
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Robots can be much more accurate than human. E.g. New wafer handling robots have micro inch accuracies
Accessories and sensor can have capabilities beyond humans Can process multiple stimuli or tasks simultaneously.
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Dexterity
Sensors Vision systems Real time response
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Installation cost
Need of peripherals Need for training Need for programming
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Robot Components
A Robot as a system consists of the following elements which are integrated together to form a whole: i. Manipulator (or rover)
vi. Processor
vii. Software
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End Effectors
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Answer Area of the left piston = (1)2 = 3.14 Area of the right piston = 28.26.
The piston on the right is 9 times larger than the piston on the left. What that means is that any force applied to the left-hand piston will appear 9 times greater on the right-hand piston. So if you apply a 100-pound downward force to the left piston, a 900-pound upward force will appear on the right. The only catch is that you will have to depress the left piston 9 inches to raise the right 17 piston 1 inch.
Controller Similar to cerebellum (controls motions) Receive data from computer, control actuators motions and coordinates the motions with the sensory feedback information E.g. Controls angle, velocity, force
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Operating system
Robotic software calculates necessary motions of each joint based on kinematics equations
Collection of routines and application programs to use peripheral devices (e.g. vision routines, specific 19 task)
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Due to this which take much computing power and time no seven DOF is used in industry
Human arms have seven DOF. (Shoulder 3 DOF, Elbow 1 DOF, wrist - 3 DOF) In robot end effectors never consider as on of DOF DOF - if movement is not fully controlled (e.g only can fully extended or retracted, can only at 0, 30, 60 or 25 90 degrees)
Robot Coordinates
Robot configurations for positioning the hand are as follows: Cartesian/rectangular/gantry (3P) Cylindrical (R2P) Spherical (2RP) Articulated/anthropomorphic (3R) Selective Compliance Assembly Robot Arm (SCARA) R = Revolute, S = Spherical
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P = Prismatic (linear),
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Robot Workspace
Robot workspace is the ability of a robot to reach a collection of points (workspace) which depends on the configuration and size of their links and wrist joint.
The workspace may be found mathematically by writing equations that define the robots links and joints including their limitations, such as ranges of motions for each joint Alternatively can be found by subtracting all the space it can reach with what it cannot reach.
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Arm Configuration
A Point for a Cartesian-coordinates Robot
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