A robotic arm is a type of mechanical armusually programmablewith similar functions to a human arm ; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by joints allowing either rotational motion such as in an articulated robot or translational linear displacement, [1] [2] the links of the manipulator can be considered to form a kinematic chain.
The terminus of the kinematic chain of the manipulator is called the end effector and it is analogous to the human hand. The end effector, or robotic hand, can be designed to perform any desired task such as welding, gripping, spinning etc.
For example, robot arms in automotive assembly lines perform a variety of tasks such as welding and parts rotation and placement during assembly. In some circumstances, close emulation of the human hand is desired, as in robots designed to conduct bomb disarmament and disposal. These robotic arms have been used to perform a variety of tasks such as inspection of the Space Shuttle using a specially deployed boom with cameras and sensors attached at the end effector, and also satellite deployment and retrieval manoeuvres from the cargo bay of the Space Shuttle.
The Curiosity rover on the planet Mars also uses a robotic arm. In the decade of the availability of low-cost robotic arms increased substantially, although such robotic arms are mostly marketed as hobby or educational devices, applications in laboratory automation have been proposed, like their use as autosamplers. Mechanical arm — A mechanical arm is a machine that mimics the action of a human arm.
Mechanical arms are composed of multiple beams connected by hinges powered by actuators, one end of the arm is attached to a firm base while the other has a tool. They can be controlled by either directly or over a distance. A computer-controlled mechanical arm is called a robotic arm, however, a robotic arm is just one of many types of different mechanical arms.
Mechanical arms can robot kuka kr 1000 robot specifications for ada as simple as tweezers or as complex as prosthetic arms, in other words, if a mechanism can grab an object, hold an object, and transfer an object just like a human arm, it can be classified as a mechanical arm.
Recent advancements have brought about to lead future improvements in the medical field with prosthetics. When mechanical engineers build complex mechanical arms, the goal is for the arm to perform a task that ordinary human arms robot kuka kr 1000 robot specifications for ada not complete, researchers have classified the robotic arm by showing its industrial application, medical application, and technology, e.
It has been first introduced in the late s by William Pollard and Harold A. Roseland, where developed an sprayer that had about five degrees of freedom. Inthe Rancho arm was designed, along many others in the future.
Even though Joseph Engelberger marketed Unimate, George Devol invented the robotic arm and it focused on using Unimate for tasks that are harmful to humans.
Ina pound Unimate prototype was installed at the General Motors die-casting plant in Trenton, the Unimate series became the very first produced robotic arm for die-casting. During a very short period of time, it had produced at least robotic arms were being used and it still remains one of the most significant contributions in the last one hundred years.
As years went by, technology seemed to evolve, helping to build better robotic arms, not only companies invented different robotic arms, but so did colleges. This arm had twelve single degree freedom joints in this electric- hydraulic- high dexterity arm, robots were robot kuka kr 1000 robot specifications for ada created to perform a series of tasks that humans found boring, harmful, and tedious.
Because of their functionality, these toes are an example of a true prosthetic device. Program machine — A program is a set of instructions used to control the behavior of a machine, often a computer. Examples of programs include, The sequence of cards used by a Jacquard loom to produce a pattern within weaved cloth. Invented in robot kuka kr 1000 robot specifications for ada, it used holes in punched cards to represent sewing loom arm movements in order to generate decorative patterns automatically, a computer program list of instructions to be executed by a computer.
Barrels, punched cards and music rolls encoding music to be played by player pianos, fairground organs, barrel organs, the execution of a program is a series of actions following the instructions it contains. Each instruction produces effects that alter the state of the according to its predefined meaning.
Robot — A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. Robots can be guided by a control device or the control may be embedded within. Robots may be constructed to take on human form but most robots are designed to perform a task with no regard to how they look. By mimicking a lifelike appearance or automating movements, a robot may convey a sense of intelligence or thought of its own.
These technologies deal with automated machines that can take the place of humans in dangerous environments or manufacturing processes, or resemble humans in appearance, many of todays robots are inspired by nature contributing to the field of bio-inspired robotics.
These robots have also created a branch of robotics, soft robotics. From the time of ancient civilization there have many accounts of user-configurable automated devices and even automata resembling animals and humans. As mechanical techniques developed through the Industrial age, there appeared more practical applications such as automated machines, remote-control and wireless remote-control. The word robot was first used to denote a fictional humanoid in a play R. Electronics evolved into the force of development with the advent of the first electronic autonomous robots created by William Robot kuka kr 1000 robot specifications for ada Walter in Bristol.
The first digital and programmable robot was invented by George Devol in and was named the Unimate, there are concerns about the increasing use of robots and their role in society. Robots are blamed for rising unemployment as they replace workers in increasing numbers of functions, the use of robots in military combat raises ethical concerns.
The possibilities of robot autonomy and potential repercussions have been addressed in fiction, the word robot can refer to both physical robots and virtual software agents, but the latter are usually referred to as bots. Closely related to the concept of a robot is the field of Synthetic Biology, the idea of automata originates in the mythologies of many cultures around the world. Engineers and inventors from ancient civilizations, including Ancient China, Ancient Greece, since circa BC, myths of Crete include Talos, a man of bronze who guarded the Cretan island of Europa from pirates.
In ancient Greece, the Greek engineer Ctesibius applied a knowledge of pneumatics and hydraulics to produce the first organ, in the 4th century BC, the Greek mathematician Archytas of Tarentum postulated a mechanical steam-operated bird he called The Pigeon. Hero of Alexandria, a Greek mathematician and inventor, created numerous user-configurable automated devices, the 11th century Lokapannatti tells of how the Buddhas relics were protected by mechanical robots, from the kingdom of Roma visaya, until they were disarmed by King Ashoka.
Yan Shi proudly presented the king with a life-size, human-shaped figure of his mechanical handiwork made of leather, wood, inthe Chinese inventor Su Song robot kuka kr 1000 robot specifications for ada a water clock in the form of a tower which featured mechanical figurines which chimed the hours. Articulated robot — An articulated robot is a robot with rotary joints.
Articulated robots can range from simple two-jointed robot kuka kr 1000 robot specifications for ada to systems with 10 or more interacting joints and they are powered by a variety robot kuka kr 1000 robot specifications for ada means, including electric motors. Some types of robots, such as arms, can be articulated or non-articulated. Continuous Path, A control scheme whereby the inputs or commands specify every point along a path of motion. The path is controlled by the motion of the manipulator joints.
Payload, The maximum payload is the amount of weight carried by the robot manipulator at reduced speed while maintaining rated precision, nominal payload is measured at maximum speed while maintaining rated precision. These ratings are highly dependent on the size and shape of the payload, pick And Place Cycle, See Figure.
Reach, The maximum horizontal distance from the center of the base to the end of its wrist. The difference between the point that a robot is trying to achieve and the resultant position. The ability of a system or mechanism to repeat the motion or achieve the same points when presented with the same control signals.
The cycle-to-cycle error of a system when trying to perform a specific task Resolution, the smallest increment of motion or distance that can be detected or controlled by the control system of a mechanism. The resolution of any joint is a function of encoder pulses per revolution and drive ratio, robot Program, A robot communication program for IBM and compatible personal computers. Provides terminal emulation and utility functions and this program can record all of the user memory, and some of the system memory to disk files.
Maximum Speed, The compounded maximum speed of the tip of a robot moving at full extension with all joints robot kuka kr 1000 robot specifications for ada simultaneously in complimentary directions and this speed is the theoretical maximum and should under no circumstances be used to estimate cycle time for a particular application.
A better measure of real world speed is the twelve inch pick. For critical applications, the best indicator of achievable cycle time is a physical simulation, servo Controlled, Controlled by a driving signal which is determined by robot kuka kr 1000 robot specifications for ada error robot kuka kr 1000 robot specifications for ada the mechanisms present position and the desired output position. Kinematic chain — Kinematic chain refers to an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system.
As in the use of the word chain, the rigid bodies. An example is the open chain formed by links connected in series, like the usual chain. Mathematical models of the connections, or joints, between two links are termed kinematic pairs, kinematic pairs model the hinged and sliding joints fundamental to robotics, often called lower pairs and the surface contact joints critical to cams and gearing, called higher pairs. These joints are generally modeled as holonomic constraints, a kinematic diagram is a schematic of the mechanical system that shows the kinematic chain.
The degrees of freedom, or mobility, of a chain is the number of parameters that define the configuration of the chain. A system of n rigid bodies moving in space has 6n degrees of freedom measured relative to a fixed frame and this frame is included in the count of bodies, so that mobility does not depend on link that forms the fixed frame. The result is that the mobility of a chain formed from n moving links and j joints each with freedom fi.
Kinematic chains of a range of complexity are analyzed by equating the kinematics equations of serial chains that form loops within the kinematic chain. These equations are called loop equations. The complexity of the chain is determined by the factors, Its topology, a serial chain, a parallel manipulator.
Its geometrical form, how are neighbouring joints spatially connected to each other, explanation, - Two or more rigid bodies in space are collectively called a rigid body system.
We can hinder the motion of these independent rigid bodies with kinematic constraints, kinematic constraints are constraints between rigid bodies that result in the decrease of the degrees of freedom of rigid body system. The constraint equations of a chain can be used in reverse to determine the dimensions of the links from a specification of the desired movement of the system. Perhaps the most developed formulation of kinematic synthesis is for four-bar linkages, ferdinand Freudenstein is often called the father of modern kinematics for his contributions to the kinematic synthesis of linkages beginning in the s.
Robot end effector — In robotics, an end effector is the device at the end of a robotic arm, designed to interact with the environment. The exact nature of this depends on the application of the robot.
In the strict definition, which originates from serial robotic manipulators, at this endpoint the tools are attached. In a wider sense, an end effector can be seen as the part of a robot that interacts with the work environment. This does not refer to the wheels of a robot or the feet of a humanoid robot which are also not end effectors—they are part of the robots mobility.
End effectors may consist of a gripper or a tool, when referring to robotic robot kuka kr 1000 robot specifications for ada there are four general categories of robot grippers, these are, Impactive — jaws or claws which physically grasp by direct impact upon the object. Ingressive — pins, needles or hackles which physically penetrate the surface of the object, astrictive — suction forces applied to the objects surface. Contigutive — requiring direct contact for adhesion to take place and they are based on different physical effects used to guarantee a stable grasping between a gripper and the object to be grasped.
Industrial grippers can be mechanical, the most diffused in industry, vacuum cups and electromagnets dominate the automotive field and in particular metal sheet handling. Bernoulli grippers exploit the airflow between the gripper and the part that causes a force which brings the gripper and part close each other.
Bernoulli grippers are a type of contactless grippers, namely the object remains confined in the field generated by the gripper without coming into direct contact with it. Bernoulli grippers have been adopted in photovoltaic cell handling, silicon wafer handling, other principles robot kuka kr 1000 robot specifications for ada less used at the macro scale, but in the last ten years they demonstrated interesting applications in micro-handling.
Some of them are ready of spreading out their original field, the laser gripper are known also as laser tweezers. Surgical robots have end effectors that are manufactured for the purpose. They are very helpful according to many sources A common form of robotic grasping is force closure, generally, the gripping mechanism is done by the grippers or mechanical fingers.
Generally only two-finger grippers are used for robots as they tend to be built for specific tasks. The fingers are also replaceable whether or not the gripper itself is replaced, there are two mechanisms of gripping the object in between the fingers. Automotive — The automotive industry is a wide range of companies and organizations involved in the design, development, manufacturing, marketing, and selling of motor vehicles, some of them are called automakers.
It is one of the worlds most important economic sectors by revenue, the term automotive was created from Greek autos, and Latin motivus to represent any form of self-powered vehicle. This term was proposed by Elmer Sperry, the automotive industry began in the s with hundreds robot kuka kr 1000 robot specifications for ada manufacturers that pioneered the horseless carriage.
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