Robot geometry

Robot System for Ultrasonic Examination of Complex Geometries. 

Because of the complexity of sample preparation, backscatter measurement geometry (see Fig. 3.19) is the choice for an in situ planetary Mossbauer instrument [36, 47 9]. No sample preparation is required, because the instmment is simply presented to the sample for analysis. On MER, the MIMOS II SH is mounted on a robotic arm that places it in physical contact with the analysis target (e.g., rock or soil) [36, 37]. 

Hummler, J., Steiner, K.V. Experimental Study of Robotic Thermoplastic Filament Winding of Complex Geometries (1990) Center for Composite Materials, University of Delaware, Newark, Delaware... 

The robotic array is besf suifed for complex geometries. It uses the same type of robof fhaf applied fhe coafing, and the system has a single source of radiafion for each robof. An example of using robotics for UV cure is in Figure 7.1. 

In contrast with the limited ability to reconfigure conveyor belt systems and their limited ability to handle different sized specimen containers, mobile robots are easily adapted to carry various sizes and shapes of specimen containers,. and can be reprogrammed to travel to new (and distant) locations with changes in laboratory geometry. Limitations of mobile robots include their requirement of having to batch specimens, and their difficulty in interfacing mechanically with laboratory analyzers so that specimens are introduced directly from the mobile robot onto the analyzer. In many situations, laboratory personnel are still required to place specimens onto or remove specimens from the mobile robot at each stopping place. Mobile robots have been used to return conveyor belt specimen carrier racks to the central dispatch area and for transport of specimens within and outside the laboratory. In the latter application, mobile robots may be a useful alternative to pneumatic tube defiv-ery systems. 

Typical geometric shapes of a robot arm are sketched in Figure 1.4. The anthropomorphic geometry (Figure 1.4a) is derived from the human torso, that is, there is a waist, a shoulder, an elbow, and a wrist. Although this type of robot is mainly found in the automobile industry, it can also be used for manipulation of liquid or sohd samples. 

In the chemical laboratory, the cylindrical geometry dominates (Figure 1.4b). The revolving robot arm can be moved in horizontal and vertical directions. Typical operations of a robot are as follows ... 

One way for SMD assembly onto MID is to use six-axis robots, which arc designed as geometry-flexible handling systems for reaching each point in the workspace with every possible orientation of the tool. The available placement systems for SMD assembly onto PCBs are optimized for placement accuracy and speed. In order to work with these systems on MIDs, it is important to be able to move them during the process (Feldmann and Krimi 1998). 

In an age of robotics the solution might have been to design a multipurpose device to suit all the various inspection possibilities. However, in view of all the requirements such as portability, access restrictions and component geometries it was considered that a multi-purpose device was not a viable proposition and that the solution lay in the development of a range of adaptable scanners. 

Zoppi, M., Zlatanov, D., GosseUn, C.M. Analytical kinematics models and special geometries of a class of 4-dof parallel mechanisms. IEEE Transactions on Robotics 21(6), 1046-1055 (2005)... 

Second example with the crane, we can experiment and study some aspects of the geometry of the helix the concept of "pitch of an helix" being seen as the level reached by the hook when the arrow of the crane rotates exactly 360°, the hook moving up with a constant speed (cf. figure 15.6). This can be a good approach for the study of screwed rods, useful for later used robots. Such rods are available to tr sform the rotation of the rod into the translation of a Screw and can be studied as a primitive mechanical function. 

Vivet M. E)riving Micro-robots under LOGO a way to approach geometry. Proceedings of the Second International Conference for LOGO and MATHS education. Institute of education. University of London, 15/18 July 1986, P. 216-225.1986. 

Steiner K V (1990) Development of a robotic filament winding workstation for complex geometries, Proc 55 Int SAMPE Symp/Exhib, Apr 2-5, Anaheim, CA, pp. 757-766. 

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