Cylindrical robots

The synthesis of self-supporting monolithic cylindrical rods ( lcmxlOcm) again with compositions and morphologies similar to resins has been reported [51]. These can also be prepared with a texture that allows each rod to be cleaved into discs. ( lcmx0.2cm, mass 250-500mg) (Fig. 1.10). The latter can be handled by a robot arm and soHd phase synthesis on one disc allows up to 0.5 mmole of a single compound to be produced. Similar disc and alternative shaped macroscopic supports have now been reported [52-54]. 

Cylindrical A robot consisting of a central vertical sliding and rotating unit into which slides a horizontal beam (for example the Zymark Zymate). 

Large-area pressure sensor sheets are mechanically flexible, as shown in Fig. 16.1, and can therefore be wrapped around fine cylindrical bars, for example robot fingers. A sense of touch for humanoid robots is far behind the senses of sight and hearing. This is mainly because a flexible, large-area pressure sensor matrix has not been manufactured at reasonable cost. Flexible pressure sensors have been made from polymers or rubber. With increasing number of sensors in the matrix, however, problems associated with wiring cannot be overlooked this makes it impossible to increase the density or total number of sensors to that comparable with human skin. 

Figure 11-10 Three basic configurations of robotic devices that have application in the clinical laboratory. A, Cartesian. B, Cylindrical. C, Articulating (polar) or jointed. (Courtesy the Journal of the /nternotfona/ Federation of Clinical Chemistry 1992 4 175.)...

A second approach is the cylindrical robotic system (Fig. 10.11), which is marketed by Zymark. In this system, the robot is most often in the center of the bench and may move around in a circle carrying out the tasks asked of it. They include capping, weighing, centrifuging, filtering, and evaporation. Obviously, SPE is possible with both types of robotic systems. Robotic systems automating the entire method are more costly, often in excess of 100,000 per unit. But for continuous processing of a specific method, they could be cost effective. Furthermore, these units could be interfaced to other less expensive automated SPE units and work in conjunction with them for the entire analysis. 

Figure 10.11. Schematic of a cylindrical robotic application. [Reprinted with permission of LC-GC magazine, from Majors and Holden (1993)].

Cylindrical. Here the hand s position is defined in cylindrical coordinates (x, z and the angle 0). The robot is therefore capable of performing both translational and rotational movements (Fig. 9.1a). 

Fig. 9.1 Commonest configurations of laboratory robots, (a) Cylindrical. (b) Revolute.

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 ... 

Before the robot starts to lay and contact the leads, a camera, integrated in the wiring tools, is positioned above the required position of the component designated for wiring. Each component is identified and its precise position is controlled by vision marks in the shape of three cylindrical cavities in the die casting of the IDC connector. Any deviation of the actual position from the target position is calculated and transmitted as compensation value to the robot s evaluation program. 

Cyclic coordinate seeu ch method, 2549 Cyclic scheduling, 1746-1747 Cylindrical robots, 375... 

In the AFP process, multi-headed robot machinery lays down multiple strands of prepregged fibre on either flat tools, curved mandrels or complete cylindrical mandrels or drums (as applied in manufacture of fuselage sections of the Boeing 787). The process is shown in Figure 3.4. The ATL variant of the process lays down tapes of unidirectional prepreg up to 300 mm wide across the mandrel. The AFP process uses smaller width ribbons of prepreg a few millimetres wide and can... 

But, the interior space of cylinder is bigger than cuboids in the same surface area. In case of the same quality of material, the internal space of cylindrical encloser is bigger and the intensity of encloser is higher than cuboids. And the internal stress distribution is more uniform. The flameproof encloser adopted cylindrical shape after having a comprehensive consideration for the robot safety, mobility. The flame-proof encloser is modified at the bottom to improve the robot motion performance. 

Cylindrical Coordinate Robots One of the earliest industrial robots belongs to the cylindrical coordinate robot class. Its kinematic structure is shown in Fig. lb. The arm consists of two orthogonal linear links placed on a rotating base. In comparison to Cartesian robots, this configuration offers a much larger work volume relative to the mechanical structure of the arm. The control system needed for linear path control is slightly more complex than for the Cartesian robots (Fig. 2). 

The SCARA robot class is actually a subclass of the cylindrical coordinate robots. It is still considered to be a separate class because of its unique properties. It was introduced as a robot particularly suited for assembly tasks, and it is for assembly and similar light operations it is widely... 

Spherical Coordinate Robots The Unimate robot belongs to the class of spherical coordinate robots. Initially the class was used widely, several manufacturers offered robots of this class, and it found widespread usage in the first decades of industrial robotics. It offers a better ratio between work volume and mechanical structure volume than the cylindrical coordinate robot. But the dexterity is still much lower than that of the anthropomorphic robots. Since... 

Figure 3 Different types of robots (8). 1. Cartesian. 2. Spherical. 3. Cylindrical. 4. Revolute.

The spatial geometry of robots may be cylindrical, cartesian or anthropromor-phic (mimicking human movements), the first form being the most common. A typical laboratory work station with a computer-controlled cylindrical robot is shown in Figure 2. T5q>ical operations include ... 

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