Deck 8: Industrial Robots, Automation Systems and Data Communication Between Intelligent Machines

Question 1

The key words in the industrial robot definition are reprogrammable and automatically controlled.

Answer 1

False

Question 2

Vertically articulated robot arms are implemented in either a SCARA configuration or in a horizontally base jointed arm geometry.

Answer 2

False

Question 3

SCARA stands for Selective Compliance Articulated Robot Axis.

Answer 3

False

Question 4

The term gripper defines tooling with an open -and -close motion to grasp parts, but is used as a general term for all types of robot tooling.

Question 5

Grippers use finger pressure and the coefficient of friction between the fingers and part keep a part from moving in the gripper.

Question 6

The lifting capacity of a vacuum gripper is limited to 14.7 pounds because that is the value of atmospheric pressure when a vacuum in created.

Question 7

Compliance is the initiated or allowed part movement for the purpose of alignment between mating parts.

Question 8

An RCC is an example of a active compliance device.

Question 9

Active compliance systems are often called force and torque (FIT) systems.

Question 10

RCC stands for remote compliance control.

Question 11

Some robots like the SCARA have compliance built into the control system.

Question 12

Neither active or passive compliance requires an interface with the controller.

Question 13

Servo type robots require the position and speed of every axis to be feedback to the controller.

Question 14

The most commonly used axis position feedback device is the potentiometer.

Question 15

Open -loop non -servo robots control the speed of each axis at all points in the work envelope.

Question 16

Non -servo robots can run faster than servo robots.

Question 17

Non -servo robots most often have pneumatic actuators driven by compressed air.

Question 18

Servo robots are sometimes called bang -bang and stop -to -stop type robots.

Question 19

Closed -loop robot systems are often built from modular components that include linear and rotary pneumatic actuators.

Question 20

Non -servo robots have better repeatability than servo robots.

Question 21

The non -servo robot controller is most often a PLC.

Question 22

In point -to -point program control each axes of the robot moves at its maximum speed.

Question 23

In straight line or linear program control the axis that has the shortest move moves the fastest.

Question 24

Continuous -path program control is used where the program must capture the exact movement of the person teaching the robot.

Question 25

Linear path robot programs would have more programmed points than continuous path robot programs.

Question 26

When robots are moved during programming by using the tool mode, the movement follows the universal robot coordinate system.

Question 27

If you were programming a robot to unload a pallet, you would most likely be in the Cartesian movement mode.

Question 28

A task point graph is a technique to illustrate the robot program graphically.

Question 29

The basic program structure starts with two points, which are cycle start and end of cycle.

Question 30

Robot programs are divided into tasks and sub -tasks with the sub -tasks assigned to the main robot program.

Question 31

Non -servo robots are programmed in either PLC ladder logic or the IEC 61131 sequential function chart language.

Question 32

A non -servo robot without limit sensors can be programmed to run faster than the same robot with limit sensors.

Question 33

The most important rule to avoid injury from a robot is to avoid pinch points.

Question 34

When troubleshooting robot problems on an operational production system with a robot, you would assume that the robot program is not the cause of the problem.

Question 35

When troubleshooting problems in a new production system that includes a robot, you would include the robot program in the troubleshooting process.

Question 36

All position axes are linear actuators.

A) Spherical geometry
B) Cartesian geometry
C) Cylindrical geometry
D) Jointed spherical geometry
E) All of the above

Question 37

Most pneumatic robots use this geometry.

A) Jointed spherical geometry
B) Cylindrical geometry
C) Cartesian geometry
D) Spherical geometry
E) All of the above

Question 38

Has traverse and gantry configurations.

A) Cylindrical geometry
B) Jointed spherical geometry
C) Spherical geometry
D) Cartesian geometry
E) All of the above

Question 39

Has a work envelope that is rectangular.

A) Spherical geometry
B) Cylindrical geometry
C) Cartesian geometry
D) Jointed spherical geometry
E) All of the above

Question 40

Position axes are one rotary and two linear.

A) Jointed spherical geometry
B) Cartesian geometry
C) Spherical geometry
D) Cylindrical geometry
E) All of the above

Question 41

The second most popular geometry for pneumatic robots.

A) Cartesian geometry
B) Spherical geometry
C) Jointed spherical geometry
D) Cylindrical geometry
E) All of the above

Question 42

This geometry is also called polar arm geometry.

A) Spherical geometry
B) Cartesian geometry
C) Cylindrical geometry
D) Jointed spherical geometry
E) All of the above

Question 43

This geometry is no longer produced by current robot manufactures.

A) Cartesian geometry
B) Jointed spherical geometry
C) Cylindrical geometry
D) Spherical geometry
E) All of the above

Question 44

Geometry of the Unimate industrial robots and the geometry used in the first industrial robot application.

A) Spherical geometry
B) Cylindrical geometry
C) Cartesian geometry
D) Jointed spherical geometry
E) All of the above

Question 45

Also called the articulated, revolute, and anthropomorphic geometry.

A) Cylindrical geometry
B) Jointed spherical geometry
C) Spherical geometry
D) Cartesian geometry
E) All of the above

Question 46

The most frequently used geometry for servo type robots.

A) Cartesian geometry
B) Spherical geometry
C) Jointed spherical geometry
D) Cylindrical geometry
E) All of the above

Question 47

Of the currently used geometries the only one that does not use pneumatic power.

A) Cartesian geometry
B) Spherical geometry
C) Cylindrical geometry
D) Jointed spherical geometry
E) All of the above

Question 48

This geometry is available in vertically articulated and horizontally articulated configurations.

A) Spherical geometry
B) Cartesian geometry
C) Jointed spherical geometry
D) Cylindrical geometry
E) All of the above

Question 49

The SCARA version of this geometry is used for assembly applications.

A) Spherical geometry
B) Jointed spherical geometry
C) Cartesian geometry
D) Cylindrical geometry
E) All of the above

Question 50

This is the second most frequently used geometry.

A) Jointed spherical geometry
B) Cylindrical geometry
C) Cartesian geometry
D) Spherical geometry
E) All of the above

Question 51

Geometry can be programmed with either a teach pendant or computer terminal.

A) Cartesian geometry
B) Jointed spherical geometry
C) Spherical geometry
D) Cylindrical geometry
E) All of the above

Question 52

The tooling is mounted to the tool plate that is at the end of the final axis of motion.

A) Cartesian geometry
B) Jointed spherical geometry
C) Cylindrical geometry
D) Spherical geometry
E) All of the above

Question 53

The geometry where the repeatability is better than the accuracy.

A) Cylindrical geometry
B) Jointed spherical geometry
C) Cartesian geometry
D) Spherical geometry
E) All of the above

Question 54

Most likely gripper to use if circular parts need to be centered when picked up.

A) Parallel and angular grippres
B) Finger and bellows grippers
C) Pin and mandrel grippers
D) Vacuum grippers
E) All of the above

Question 55

Most likely gripper to use if heavy metal parts with a rough surface must picked up.

A) Finger and bellows grippers
B) Vacuum grippers
C) Pin and mandrel grippers
D) Parallel and angular grippres
E) All of the above

Question 56

Most likely gripper to use for thin sheet metal parts with few holes.

A) Pin and mandrel grippers
B) Finger and bellows grippers
C) Parallel and angular grippres
D) Vacuum grippers
E) All of the above

Question 57

Most likely gripper to use for parts with a hole in the center and a finish that must not be scratched.

A) Vacuum grippers
B) Finger and bellows grippers
C) Pin and mandrel grippers
D) Parallel and angular grippres
E) All of the above

Question 58

Most likely gripper to use for a moderately heavy and very irregularly shaped polished part with a short shaft near the center.

A) Parallel and angular grippres
B) Vacuum grippers
C) Finger and bellows grippers
D) Pin and mandrel grippers
E) All of the above

Question 59

Most likely gripper to use for a heavy rectangular part with a highly polished surface.

A) Vacuum grippers
B) Parallel and angular grippres
C) Finger and bellows grippers
D) Pin and mandrel grippers
E) All of the above

Question 60

Most likely gripper to use to pick up large and thin sheet metal for loading into a a forming press.

A) Pin and mandrel grippers
B) Parallel and angular grippres
C) Finger and bellows grippers
D) Vacuum grippers
E) All of the above

Question 61

Most likely gripper to use to unload hot metal cast parts from a dia cast machine.

A) Parallel and angular grippres
B) Pin and mandrel grippers
C) Finger and bellows grippers
D) Vacuum grippers
E) All of the above

Question 62

The type of gripper that would use compressed air to activate the gripping action.

A) Pin and mandrel grippers
B) Vacuum grippers
C) Finger and bellows grippers
D) Parallel and angular grippres
E) All of the above

Question 63

Most likely gripper to have compliance built into the pick up action.

A) Parallel and angular grippres
B) Pin and mandrel grippers
C) Finger and bellows grippers
D) Vacuum grippers
E) All of the above

Question 64

The least expensive of the gripping options.

A) Vacuum grippers
B) Parallel and angular grippres
C) Pin and mandrel grippers
D) Finger and bellows grippers
E) All of the above

Question 65

Match the robot term with its definition .

-Work envelope

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 66

Match the robot term with its definition .

-Robot tooling

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 67

Match the robot term with its definition .

-Axis

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 68

Match the robot term with its definition .

-Position axes

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 69

Match the robot term with its definition .

-Orientation axes

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 70

Match the robot term with its definition .

-Degrees of freedom

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 71

Match the robot term with its definition .

-Accuracy

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 72

Match the robot term with its definition .

-Repeatability

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 73

Match the robot term with its definition .

-Tool Center Point

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 74

Match the robot term with its definition .

-Speed

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 75

Match the robot term with its definition .

-Payload

A) Pitch, roll, and yaw used to align the tooling with the work or part.
B) The point of action for the tool mounted to the robot tool plate.
C) The degree to which a robot system can return to a specific programmed position in the work cell that was taught by moving the arm to the point using the teach pendant.
D) Production tools attached to the tool plate a t the end of the robot arm.
E) The degree to which a robot can move to a specific translation point in the work cell when coordinates for the point are entered from an off-line programming station.
F)Axis 1 , 2 , and 3 used to move the robot arm to point where work will be performed.
G) Weight a t the mounting plate that the robot is designed to move.
H) The moveable joints o n the robot arm.
I) The number of moveable axes o n the robot arm.
J) The rate a t which the robot can move each axis under program control.
K) Space in which the robot gripper can move with n o limitations o n travel.

Question 76

Baud rate is equal to the reciprocal of bits per second.

Question 77

The layers in the OSI model form the network architecture.

Question 78

In the application layer, the network redirector controls emails, client -server databases and remote logons.

Question 79

The data link layer defines methods used to transmit and receive data on the network.

Question 80

Broadband systems use a time -sharing principle for the machines in the system.