محاضرة بعنوان Fundamentals of Robotics

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Fundamentals of Robotics

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Chapter Topics
2.1 Parts of a Robot
2.2 Degrees of Freedom
2.3 Classifying Robots
Objectives
Upon completion of this chapter, you will be able to:
• Identify the parts of a robot.
• Explain degrees of freedom.
• Discuss the difference between servo and non-servo robots.
• Identify and explain the different robot configurations.
Technical Terms
actuator
Cartesian
confi guration
closed-loop system
controller
cylindrical
confi guration
degrees of freedom
direct-drive motor
end effector
error signal
hierarchical control
hydraulic drive
linear actuator
manipulator
non-servo robot
open-loop system
pitch
pneumatic drive
power supply
program
radial traverse
revolute confi guration
roll
rotary actuator
rotational traverse
SCARA
servo amplifi er
servo robot
spherical confi guration
tachometer
teach pendant
trajectory
vertical traverse
work envelope
Overview
Even the most complex robotic system can be broken down into a few
basic components, which provide an overview of how a robot works. These
components are covered in this chapter, with more detail provided in later
chapters. Freedom of motion and the resulting shape of the robot’s work
area are also addressed in this chapter.

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محاضرة بعنوان Fundamentals of Robotics 761752

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