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Unformatted text preview: IE-324-010-SP11-Industrial Automation & Robotics Name:_____________________ Midterm I Date:_____________ ________________________________________________________________________________________ 161)What are the five joint types used in robotic arms and wrists? Answer: The five joint types are the following: (1) Linear joint (type L joint), in which the relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel; (2) orthogonal joint (type O joint), which is also a translational sliding motion, but the input and output links are perpendicular to each other during the move; (3) rotational joint (type R joint), which provides rotational relative motion, with the axis of rotation perpendicular to the axes of the input and output links; (4) twisting joint (type T joint), which also involves rotary motion, but the axis of rotation is parallel to the axes of the two links; and (5) revolving joint (type V joint), in which the axis of the input link is parallel to the axis of rotation of the joint, and the axis of the output link is perpendicular to the axis of rotation. 2)Name the five common body-and-arm configurations identified in the text. Answer: The five common body-and-arm configurations are (1) polar, (2) cylindrical, (3) Cartesian coordinate, (4) joint-arm, and (5) SCARA, which stands for Selective Compliance Assembly Robot Arm. 3)Robotic sensors are classified as internal and external. What is the distinction? Answer: Internal sensors are components of the robot and are used to control the positions and velocities of the various joints of the robot. These sensors form a feedback control loop with the robot controller. External sensors are additional components in the cell (external to the robot)....
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- Spring '11