Vex V5 Workcell - Lab 3

When selecting an industrial robot there are many things which need to be considered, such as: what is its purpose, how fast does it need to move, what precision of movement does it need, will it be a ___________ robot

Has the robot’s tool moving in a linear motion along each of the Cartesian coordinates (x, y, z). This type of configuration can sweep out a box-like work envelope.

• Spherical

• Cylindrical

• Cartesian

• Selective Compliance Articulated Robot Arm (SCARA)

This type of robot is the most commonly pictured when referring to an industrial robot.  As a minimum, it needs to have at least a shoulder joint, an elbow joint, and a wrist joint. Many examples of these configurations can have both major and minor axes.

• Articulated

• Delta (Parallel)

• Spherical

• Cartesian

Allows its tool to rotate around a central axis. The tool can also move towards and away from the central axis, plus up and down the central axis. This configuration creates a work-volume in the shape of a cylinder.

• Delta (Parallel)

• Selective Compliance Articulated Robot Arm (SCARA)

• Cylindrical

• Cartesian

Uses pivot points to allow its tool to move in a combination of the Cartesian and the cylindrical motions. This allows the tool to move more quickly, and move more easily in certain motions, such as moving in an arc.

• Articulated

• Selective Compliance Articulated Robot Arm (SCARA)

• Cylindrical

• Spherical

In order to define a movement in space, the movement needs to be measured. Measurements require a starting point or zero point, called a ___________point.

What is the work-volume or work envelope of the V5 Workcell?

• The area above the limit of the arm which would be considered a singularity.

• all the space it can move through, in all directions.

• The starting point would be known as the calibration point for the drawing

What is the calibration point in a robot configuration?

• A set of instructions

• The workspace the robot sweeps through

• starting point or zero point that is used to measure the robot's movements

• An area in which a robot cannot move

What is a singularity in robot's movements?

• a starting point for robot's movements

• all the space a robot can move through, in all directions

• An area in which the robot cannot move

A robot can not move without a ________