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Robotics Unit-1 (2m)

This document defines key robotics terms including robot, robot joints, workspace, degrees of freedom, and Asimov's Laws of Robotics. It describes important robot specifications like payload, accuracy, repeatability, and control system types. Robot joints are defined as prismatic, revolute, cylindrical, and spherical. The four main robot control systems are point-to-point, continuous path, adaptive, and intelligent control.

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Sri Suriya S
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63 views3 pages

Robotics Unit-1 (2m)

This document defines key robotics terms including robot, robot joints, workspace, degrees of freedom, and Asimov's Laws of Robotics. It describes important robot specifications like payload, accuracy, repeatability, and control system types. Robot joints are defined as prismatic, revolute, cylindrical, and spherical. The four main robot control systems are point-to-point, continuous path, adaptive, and intelligent control.

Uploaded by

Sri Suriya S
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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1.

Define Robot
2. State the types of joints used in robots.
3. Define workspace/work envelop.
4. Define degrees of freedom
5. Define pitch, yaw, and roll of a robot arm.
6. State the laws of robotics.
7. Define work volume.
8. Define resolution, repeatability, accuracy of a robot.
9. Explain with neat sketch any two types of robot joints.
10. What do you mean by pay load of a robot?
11. List the important specifications of a robot.
12. State the four types of control systems used in robots.

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1. Define Robot:

A robot is a programmable machine capable of carrying out complex, often repetitive, tasks
automatically. They can be programmed to interact with their environment using sensors and
actuators, and may be fixed or mobile.

2. Types of Joints used in Robots:

● Prismatic (linear): Allows motion in a straight line along one axis.


● Revolute (rotary): Allows rotation around a single axis.
● Cylindrical: Combines a prismatic and revolute joint, allowing motion in a cylinder shape.
● Spherical: Allows rotation around three axes at a single point.
● Scara: Selective Compliance Assembly Robotics Arm, a four-axis revolute joint with high
flexibility for assembly tasks.

3. Workspace/Work Envelope:

The three-dimensional space within which the robot arm can reach and operate effectively.

4. Degrees of Freedom:

The number of independent motions a robot can make simultaneously. More degrees of
freedom offer greater flexibility, but increase complexity and cost.

5. Pitch, Yaw, and Roll:

● Pitch: Rotation about the X-axis (tilting forward/backward).


● Yaw: Rotation about the Y-axis (turning left/right).
● Roll: Rotation about the Z-axis (tilting side-to-side).
These terms are commonly used to describe the movement of robot arms.

6. Laws of Robotics (Asimov's Laws):

These are three hypothetical rules proposed by science fiction author Isaac Asimov to govern
the behavior of robots.

1. A robot may not injure a human being or, through inaction, allow a human being to come
to harm.
2. A robot must obey the orders given it by human beings except where such orders would
conflict with the First Law.
3. A robot must protect its own existence as long as such protection does not conflict with the
First or Second Law.

7. Work Volume:

The total space accessible to the robot's end effector (tooling) within its workspace.

8. Resolution, Repeatability, Accuracy:

● Resolution: The smallest increment of motion a robot can make.


● Repeatability: The ability of a robot to perform the same motion consistently over time.
● Accuracy: The difference between the desired and actual position of the robot's end
effector.

9. Robot Joint Sketches:

Here are two sketches of robot joints:

● Prismatic Joint:
● Revolute Joint:

10. Payload of a Robot:

The maximum weight a robot can carry and manipulate effectively within its workspace.

11. Important Robot Specifications:

● Payload capacity
● Workspace/work envelope
● Degrees of freedom
● Speed and acceleration
● Repeatability and accuracy
● Reach
● Control system type

12. Four Types of Robot Control Systems:

● Point-to-point control: Moves the robot between programmed points in sequence.


● Continuous path control: Follows a predefined path smoothly.
● Adaptive control: Adjusts control parameters based on changing conditions.
● Intelligent control: Utilizes AI or machine learning for autonomous decision-making.

I hope these answers are helpful! Let me know if you have any further questions.

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