ISyE 4256 Industrial Robotic Applications

Transcription

1 ISyE 456 Industial Robotic Applications Quiz # Oct. 9, 998 Name This is a closed book, closed notes exam. Show wok fo poblem questions ) ( pts) Please cicle one choice fo each item. a) In an application, if all the positions ae taught though lead though, the impotant accuacy specification will be (check only one) i) Resolution only ii) REP only iii) PA (d PA as I wote on the boad) only iv) Resolution and REP. v) Resolution, REP and PA vi) None of the above b) In an application, all the positions ae taught though off-line, the impotant accuacy specification will be (check only one) i) Resolution only ii) REP only iii) PA (d PA as I wote on the boad) only iv) Resolution and REP. v) Resolution, REP and PA vi) None of the above c) Let D epesent dynamic eo, which of the following is tue fo most obots? i) REP < D <. REP. ii) D >> REP iii).8 REP < D < REP iv) D << REP v) None of the above.

2 ) ( pts) Please fill in the blanks. a) Let the linea esolution of a obot be α and the epeatability ange be. If α 5, the cost/benefit in the obot design is cost too much fo little benefits. If α, the obot addessing capability is _senseless esolution fo no gain. b) The tem TCP stands fo Tool Cente Point. It _defines the position and oientation of the tool coodinate system. c) The x-axis of a obot is defined as to divide woking envelop and fom ight hand coodinate system with z and y. d) If x is to the ight, the z axis is pointing into this page, then y will be pointing down. e) The analysis to find the position and oientation of the tool with known joint position is called fowad o diect kinematics, while the analysis to find the the joint positions with known position and oientation of the tool is called invese kinematics. f) In a tansfomation matix, thee should be _6 unit vectos.

3 ) (6 pts) The epeatability of a Catesian obot is REP. mm. The position accuacy of this obot is PA. mm. The esolution of the obot in x, y and z ae.,., and., espectively. In one application, all points ae taught though lead-though. What is the wost case eo at any point?.5 In this application, one taget point is at x., y -8.5 and z.8, in obot coodinate system. What is the maximum eo at this taget point?.

4 4) (6 pts) This poblem is to test you undestanding of the expeiment design in standad measues elated to obot accuacy. The epeatability position accuacy ae defined to captue cetain obot chaacteistics without extensive measuements. Fo simplicity, we look at a one-dimensional manipulato. The following table povides patial imaginay data "would be made" measuements eadings in st, nd, d, 4 th, 5 th ties at locations,,,,5, 5. st nd d 4th 5 th a) Please show the standad calculation of the epeatability using imaginay data on fist 4 ties. You do not need all the data in the table fo this analysis..5 b) Please show the standad calculation of position accuacy using some data in the table. You do not need all the data in the table fo this analysis..

5 5) (5) A obot is shown in the figue. Please Identify the am configuation. Jointed am obot Mak the coodinate systems fo all the joints (links). x z x z z x Find the all the link (joint) paametes a, t, d and θ. Find A. Link a t d θ 9 L θ L θ 9 θ c s A s c L

6 6) () * This is question is equied fo gaduate students but exta point fo undegaduate students. Without futhe infomation, we can assume that the achieved point distibution to a taught point is unifomly distibuted in a sphee with adius. Please setup the elationship between and REP. REP V dv d d θ sinϕdϕ V 4π / π π 4

7 Repeatability definition 5 ties at locations along the standad test lines, then calculate REP N N ij j i ij ( xij x j ) + ( yij y j ) + ( xij z j ) Position accuacy 5 points evenly spaced in a line in a specific plane. d N PA d i N d i ( xai xci ) + ( yai yci ) + ( x za zci ) Tansfomation matix cosθ sinθ A sinθ cott cosθ cost sin t sinθ sin t cosθ sin t cost a cosθ a sinθ d Joint coodinate and paamete definitions (Mikell Goove et al)