Multiple Choice
Identify the
choice that best completes the statement or answers the question.
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1.
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The five main components of an industrial robot include which of the
following?
A. | Pneumatic drive | B. | Tachometer | C. | Work
envelope | D. | Means for programming |
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2.
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A controller has ____ levels of hierarchical control.
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3.
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The highest hierarchical control level is ____ control.
A. | actuator | B. | main | C. | path | D. | base |
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4.
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The ____ provides the energy to drive the robot’s controller and
actuators.
A. | program | B. | power supply | C. | servo
amplifier | D. | None of the above. |
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5.
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Which of the following is an example of a means for programming?
A. | Teach pendant | B. | Teach box | C. | Hand-held
programmer | D. | All of the above. |
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6.
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A robot’s ability to move up and down, forward and backward, and to the
left and right is described as the robot’s ____.
A. | trajectory | B. | work envelope | C. | degrees of
freedom | D. | manipulator segments |
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7.
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The vertical traverse provides ____ motion of a robot’s arm.
A. | up-and-down | B. | side-to-side swivel | C. | extending and
retracting | D. | point-to-point |
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8.
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In a(n) ____ system, no feedback mechanism is used to compare programmed
position to actual positions.
A. | servo | B. | open-loop | C. | closed-loop | D. | direct-drive |
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9.
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A servo robot is a(n) ____ system because it allows for feedback signals.
A. | servo | B. | open-loop | C. | closed-loop | D. | direct-drive |
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10.
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Three types of motors commonly used for ____ actuator drives include ac servo
motors, dc servo motors, and stepper motors.
A. | hydraulic | B. | pneumatic | C. | linear | D. | electric |
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11.
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A(n) ____ drive system uses fluid and consists of a pump connected to a
reservoir tank, control valves, and an actuator.
A. | hydraulic | B. | pneumatic | C. | direct | D. | electric |
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12.
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The shape of a robot’s work envelope is determined by the ____.
A. | type of coordinate system | B. | arrangement of joints | C. | length of the
manipulator’s segments | D. | All of the
above. |
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13.
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A robot arm using the ____ configuration can start and stop simultaneously along
the X, Y, and Z axes.
A. | cylindrical | B. | Cartesian | C. | revolute | D. | spherical |
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14.
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The ____ configuration consists of two orthogonal slides placed at a 90° angle and mounted on a rotary axis.
A. | cylindrical | B. | Cartesian | C. | revolute | D. | spherical |
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True/False
Indicate whether the
statement is true or false.
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15.
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The power supply of a robotic system may convert ac voltage to the dc voltage
required by a robot’s circuits.
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16.
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The five major components of industrial robots are the controller, manipulator,
end effector, base, and workpiece.
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17.
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Robot movement is initiated by a series of instructions stored in the end
effector.
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18.
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Hierarchical control organizes commands from the software to the parts of a
robot into layers.
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19.
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Linear actuators provide rotary motion to a robot’s arm.
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20.
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The end effector is attached to the end of the robot arm.
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21.
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Pitch is the side-to-side movement of a robot’s wrist.
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22.
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The operations of a robot with seven degrees of freedom are less complex than
the operations of a robot with three degrees of freedom.
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23.
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A non-servo robot is a closed-loop system.
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24.
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A servo amplifier translates signals from the controller into motor voltage and
current signals.
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25.
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Hydraulic actuator drives provide precise motion control and can handle heavy
loads.
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26.
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The four major work envelope configurations are revolute, Cartesian, spherical,
and open.
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27.
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The work envelope of a robot using a Cartesian configuration is rectangular in
shape.
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Completion
Complete each
statement.
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28.
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The ______________________________ is the part of a robot that coordinates all
movements of the mechanical system.
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29.
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The three basic levels of hierarchical control are actuator control, path
control, and ______________________________ control.
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30.
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The arm of a robot that moves materials, parts, or tools is the
______________________________.
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31.
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Rotary motion can be converted to ______________________________ using a lead
screw or other means of mechanical conversion.
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32.
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A(n) ______________________________ measures the acceleration and deceleration
of the manipulator.
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33.
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The ______________________________ is the robot’s hand.
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34.
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The extending and retracting movement of a robot arm is an example of
______________________________ traverse motion.
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35.
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The movements of ______________________________ configuration robots closely
resemble those of the human body.
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36.
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Three common characteristics used to classify robots are type of
______________________________, type of actuator drive, and shape of the work envelope.
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37.
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The simplest type of robot is a(n) ______________________________ robot, also
called a limited sequence robot.
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38.
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In a(n) ______________________________ system, a feedback signal affects the
output of the system.
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39.
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A(n) ______________________________ actuator drive system operates using
compressed air.
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40.
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The ______________________________ configuration is ideally suited for
pick-and-place operations, but has reduced repeatability and accuracy.
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41.
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The movement of a(n) ______________________________ configuration robot
resembles the action of the turret on a military tank.
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42.
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A(n) ______________________________ configuration is horizontally articulated
and generally has one vertical and revolute joints.
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Matching
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Identify the degree of freedom depicted in each illustration. Answers are
used only once.
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43.
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Pitch
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44.
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Vertical traverse
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45.
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Rotational traverse
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46.
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Roll
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47.
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Yaw
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48.
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Radial traverse
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Identify the configuration of each work envelope illustration. Answers may be
used more than once. A. | Revolute | B. | Cartesian | C. | Spherical | D. | Cylindrical |
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49.
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50.
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51.
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52.
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53.
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