Fundamentals of Robotics practice study guide questions and answers

Actuator A valve or motor that turns power into robot movement. Cartesian Configuration A structure that a robot is set up in to allow for movement in straight lines, it features three axes (X, Y, and Z). Closed-Loop System A system that utilizes feedback in order to affect its output. Controller In a robot, the part that coordinates all mechanical system movements. Cylindrical Configuration A set-up that uses two slides placed in a 90 degree angle that attach to a rotary axis, this features three axes. Degrees Of Freedom (DOF) The freedom of motion of a robot. Direct-drive Motor A motor that can power a robot directly (there is no need for reducer gears). End Effector The hand or tool at the end of a robot arm. Error Signal When actual location and desired locations do not match, this is generated and sent to the servo amplifier. Hierarchical Control A method of organizing a system that resembles a tree that is made up of parts or nodes that work independently; Nodes perform tasks assigned to them by superior nodes and assign tasks to subordinate nodes as well as communicate feedback to higher level nodes. Hydraulic Drive A method of providing power to robots using fluid and a pump. Linear Actuator A device that provides motion in a straight line Manipulator A robot arm. Non-servo Robot A simple fixed-stop robot. Open-loop System A system without feedback. Pitch An up and down motion of a wrist. Pneumatic Drive A method of providing power to robots using air driven actuators. Power Supply A device that provides the energy required to run a controller and actuators. Program A set of instructions stored in the memory of the controller. Radial Traverse The extending or contracting movement of a robotic arm. Revolute Configuration A jointed arm configuration on a robot. Roll The rotational movement of a wrist. Rotary Actuator A device that provides motion in a circular motion. Rotational Traverse Movement on a vertical axis. Selective Compliance Assembly Robot Arm (SCARA) A robot arm that is rigid in the vertical directions (Z axis) and is slightly compliant in horizontal directions (the X-Y axis). Servo Amplifier A device that translates signals from the controller into usable motor voltage and current signals Servo Robot A closed loop system utilizing feedback. Spherical Configuration (Polar Configuration) A set-up that uses a pivot point (vertical motion), a telescoping arm (for reach), and rotation around a vertical axis to give a robot motion. Tachometer A device that measures the speed of something. Teach Pendant (Hand Held Pendant) A device used by an operator to move a robot through motions that it can record, retain, and repeat. Trajectory A path followed by a moving object. Vertical Traverse Movement in an up and down motion. Work Envelope The area that a robot's end effector can reach. Yaw The side to side motion of a wrist.