Defining Parameters
Number of axestwo axes are required to reach any point in a plane; three axes are required to reach any point in space
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To fully control the orientation of the end of the arm (i. e. the wrist) three more axes (roll, pitch and yaw) are required. Some designs (e. g. the SCARA robot) trade limitations in motion possibilities for cost, speed, and accuracy.
Kinematicsthe actual arrangement of rigid members and joints in the robot, which determines the robot's possible motions. Classes of robot kinematics include articulated, Cartesian, parallel and SCARA.
Working envelopethe region of space a robot can reach.
Carrying capacityhow much weight a robot can lift.
Speedhow fast the robot can position the end of its arm.
Accuracyhow closely a robot can reach a commanded position. Accuracy can vary with speed and position within the working envelope. It can be improved by Robot calibration.
Motion controlfor some applications, such as simple pick-and-place assembly, the robot need merely return repeatable to a limited number of pre-taught positions. For more sophisticated applications, such as arc welding, motion must be continuously controlled to follow a path in space, with controlled orientation and velocity.
Power sourcesome robots use electric motors, others use hydraulic actuators. The former are faster, the later are stronger and advantageous in applications such as spray painting, where a spark could set off an explosion.
Drivesome robots connect electric motors to the joints via gears; others connect the motor to the joint directly {direct drive).
The setup or programming of motions and sequences for an industrial robot is typically taught by linking the robot controller via communication cable to the Ethernet, Fire Wire, USB or serial port of a laptop computer. The computer is installed with corresponding interface software.
The use of a computer greatly simplifies the programming process. Robots can also be taught via teaching pendant, a handheld control and programming unit. The teaching pendant or PC is usually disconnected after programming and the robot then runs on the program that has been installed in its controller.
In addition, machine operators often use "HMI" human-machine-interface devices; typically touch screen units, which serve as the operator control panel. The operator can switch from program to program, make adjustments within a program and also operate a host of peripheral devices that may be integrated within the same robotic system.
These peripheral devices include robot end effectors that are devices that can grasp an object, usually by vacuum, electromechanical or pneumatic devices. Also emergency stop controls, machine vision systems, safety interlock systems, bar code printers and an almost infinite array of other industrial devices are accessed and controlled via the operator control panel.
Defining Parameters
By: endeavor
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