Robot technology fundamentals

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Title:

Personal Author:

Keramas, James G.

Publication Information:

Albany : Delmar Publishers, 1999

ISBN:

9780827382367

Subject Term:

Robotics

Robots, Industrial

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Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010126925	TJ211 K47 1999	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000010126926	TJ211 K47 1999	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000005031269	TJ211 K47 1999	Open Access Book	Book	Searching... Unknown

Robot Technology Fundamentals covers all the practical aspects, disciplines and latest developments of industrial robots and presents them in a simple, logical and gradually progressive manner. Principles and techniques are introduced by practical examples rather than by abstract theory. The content not only discusses current technology but emphasizes the technology of the future. Each chapter ends with a summary, questions and problems as well as a list of reference material for additional learning.ALSO AVAILABLEInstructor's Guide, ISBN: 0-8273-8237-

Preface	p. xiii
1. Introduction	p. 1
Objectives	p. 1
Automation and Robots	p. 1
Brief History	p. 3
The Technology of Robots	p. 7
Economic and Social Issues	p. 12
Present and Future Applications	p. 15
Summary	p. 17
Review Questions	p. 18
Problems	p. 19
References	p. 20
2. Robot Technology	p. 21
Objectives	p. 21
Fundamentals	p. 21
General Characteristics	p. 21
Basic Components	p. 23
Robot Anatomy	p. 41
Robot Generations	p. 43
Robot Selection	p. 45
Summary	p. 47
Review Questions	p. 47
Problems	p. 48
References	p. 48
3. Robot Classification	p. 51
Objectives	p. 51
Classification	p. 51
Arm Geometry	p. 51
Degrees of Freedom	p. 64
Power Sources	p. 65
Types of Motion	p. 72
Path Control	p. 73
Intelligence Level	p. 78
Summary	p. 80
Review Questions	p. 81
Problems	p. 81
References	p. 82
4. Robot System Analysis	p. 83
Objectives	p. 83
Robot Operation	p. 83
Hierarchical Control Structure	p. 90
Line Tracking	p. 93
Dynamic Properties of Robots	p. 94
Modular Robot Components	p. 104
Summary	p. 107
Review Questions	p. 107
Problems	p. 108
References	p. 109
5. Robot End Effectors	p. 111
Objectives	p. 111
Types of End Effectors	p. 111
Mechanical Grippers	p. 114
Gripper Force Analysis	p. 117
Other Types of Grippers	p. 124
Special-Purpose Grippers	p. 131
Gripper Selection and Design	p. 133
Process Tooling	p. 134
Compliance	p. 136
Summary	p. 147
Review Questions	p. 148
Problems	p. 149
References	p. 150
6. Sensors	p. 153
Objectives	p. 153
Robot Sensors	p. 153
Sensor Classification	p. 154
Microswitches	p. 160
Solid-State Switches	p. 170
Proximity Sensors	p. 172
Photoelectric Sensors	p. 173
Rotary Position Sensors	p. 176
Usage and Selection of Sensors	p. 183
Signal Processing	p. 184
Sensors and Control Integration	p. 186
Summary	p. 187
Review Questions	p. 188
Problems	p. 189
References	p. 190
7. Vision	p. 193
Objectives	p. 193
Visual Sensing	p. 193
Machine Vision	p. 195
Machine Vision Applications	p. 206
Other Optical Methods	p. 207
Summary	p. 213
Review Questions	p. 215
Problems	p. 215
References	p. 219
8. Control Systems	p. 221
Objectives	p. 221
Control System Correlation	p. 221
Control System Requirements	p. 222
Programmable Logic Controller	p. 224
PLC Programming Terminals	p. 239
Proportional-Integral-Derivative	p. 246
Computer Numerical Control	p. 248
Microprocessor Unit	p. 249
Universal Robot Controller	p. 254
Interfacing	p. 254
Workcell Control	p. 256
Summary	p. 259
Review Questions	p. 260
Problems	p. 261
References	p. 266
9. Programming	p. 267
Objectives	p. 267
Robot Programming	p. 267
Programming Methods	p. 270
Programming Languages	p. 274
Levels of Robot Programming	p. 280
Space Position Programming	p. 288
Motion Interpolation	p. 292
Program Statements	p. 294
Sample Programs	p. 296
Summary	p. 302
Review Questions	p. 303
Problems	p. 304
References	p. 306
10. Artificial Intelligence	p. 309
Objectives	p. 309
Intelligent Systems	p. 309
Elements of Artificial Intelligence	p. 309
System Architecture	p. 316
Applications of Advanced Robots	p. 321
Fuzzy Logic Controls	p. 325
Advanced Concepts and Procedures	p. 325
Future Developments	p. 327
Impact on Employment	p. 328
Summary	p. 328
Review Questions	p. 330
Problems	p. 330
References	p. 331
11. Safety	p. 333
Objectives	p. 333
Robot Safety	p. 333
Safety Standards	p. 334
System Reliability	p. 336
Human Factor Issues	p. 337
Safety Sensors and Monitoring	p. 338
Safeguarding	p. 340
Training	p. 342
Safety Guidelines	p. 343
Definitions	p. 344
Summary	p. 346
Review Questions	p. 347
Problems	p. 348
References	p. 348
12. Industrial Applications	p. 351
Objectives	p. 351
Automation in Manufacturing	p. 351
Robot Applications	p. 352
Material-Handling Applications	p. 353
Processing Operations	p. 357
Assembly Operations	p. 359
Inspection Operations	p. 362
Evaluating the Potential of a Robot Application	p. 363
Future Applications	p. 364
Challenge for the Future	p. 365
Innovations	p. 367
Case Studies	p. 368
Summary	p. 375
Review Questions	p. 376
Problems	p. 377
References	p. 378
Glossary of Selected Terms	p. 381
Robot Manufacturers	p. 403
Index	p. 405

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