Title:
Robot technology fundamentals
Personal Author:
Publication Information:
Albany : Delmar Publishers, 1999
ISBN:
9780827382367
Available:*
Library | Item Barcode | Call Number | Material Type | Item Category 1 | Status |
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Searching... | 30000010126925 | TJ211 K47 1999 | Open Access Book | Book | Searching... |
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Summary
Summary
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-
Table of Contents
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 |