Robot components

Despite the great formal differences between the various possible configurations of robotic systems possible, these can be said to consist of four basic common elements (Table 9.1), three of which (manipulator, control system and power supply) are indispensable, whereas the fourth (sensor) is characteristic of second-generation robots. 

Spatial geometry Cartesian Cylindrical Spherical Revolute 

The manipulator constitutes the mechanical system of the robot and Is composed of two essential elements various parts, linked via suitable joints (kinematic pairs), which are responsible for the robot s movements (translation and rotation), and gripping devices which mimic the actions of the human 

Depending on the coordinate systen characterizing the robot s motion and defining the spatial position of its hand at a given moment, robotic systems can be classified into four spatial categories [8], namely  

Cartesian. Robots belonging to this group can only perform translational movements, which are defined in a three-dimensional coordinate (x,y,z) system. 

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The workcell is illustrated in Fig. 6.6. Most of the non-robotic components are located on a small table (about 60X1 SO cm) that stands adjacent to the robot table. 

Current laboratory robot operations use many of the instrument modules familiar in conventional automation syringe drives, relay drivers, current and/or voltage sensors (including A/ D conversion) etc. The uniquely robotic component is a "pick and place" arm which serves as a "mass mover" of sample, solution etc. from one unit operation to the next. The robot controller functions to control both the pick-and-place component and the separate unit operations. Actually it is poor practice to separate any of the... 

That does not exhaust it. On the side of mechanics, the future of IT in everyday life potentially also includes biorobotics (recall that robotics is a current industry term that first appeared in the science fiction novels of Isaac Asimov), and hence more subtle forms of half robotics that mean enhancive replacements of ailing human parts. For many years patients have already been able to have artificial replacement materials, pins, joints, various prosthetics, pacemakers, and artificial hearts. They have also received transplantations and insertions made of natural materials. This trend will doubtless continue to chips and robotic components to restore lost and damaged physiological, neurological and biochemical functions. 

The activity of the robots must be scheduled for best performance. Robots can be programmed to work 24 hours a day. For example, different assays can be performed during different days of the week by the same robot, while the necessary cleaning of each robotic component is executed overnight and routine maintenance is done on weekends. The robots perform analytical measurements such as withdrawing and dispensing fixed volumes, and registering absorbance... 

Where there are problems due to aging of robotic components, the staff at the uncontaminated chemical demilitarization training facility (CDTF) at the Edgewood Area of... 

The environmental constraints on the system design stem from physical properties of the Orbital Processing Facility (OPF) at KSC, such as size constraints on the physical system components and the necessity of any mobile robotic components to deal with crowded work areas and for humans to be in the area. Example work area environmental constraints for the TI PS are ... 

The task of Puma 500, the 6 degrees of freedom robot of the Institut fur Informatik, Technische Universitat Munchen which operates in the Denavit-Hardenberg identification of six joints connection is to identify objects on the robot platform and to move them in a predefined way. Figure 1 illustrates the robot components, namely (i) the robot frame, (ii) the effector frame, (iii) the object frame and (iv) the camera frame which are related according the commutative diagram of Figure 2. 

FIGURE 19.14 (See color insert.) (Step 1) 5 years from now — understanding of basic biological components and controlling their functions as robotic components. Examples are (a) DNA which may be used inavarietyofways such as a structural element and a power source (b) hemagglutinin virus may be used as a motor (c) bacteriorhodopsin could be used as a sensor or a power source. 

Figure 12 The angular position of the robot components with respect to inertial frame.

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