Multiple Choice
Identify the
choice that best completes the statement or answers the question.
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1.
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Using the thumb to grasp objects is required for ____ movements.
A. | nonprehensile | B. | prehensile | C. | mechanical | D. | compliance |
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2.
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Using the fingers to hold round objects is a ____ grip.
A. | palmar | B. | cylindrical | C. | spherical | D. | spread |
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3.
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End effectors that execute nonprehensile movements to perform specific tasks are
called ____.
A. | fingers | B. | grippers | C. | end
stops | D. | tools |
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4.
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The fingers of mechanical finger grippers move in a ____ motion to grasp an
object.
A. | parallel | B. | angular | C. | circular | D. | Both A and B. |
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5.
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A ____ gripper delivers 360° of clamping
contact.
A. | three-finger | B. | collet | C. | mechanical
finger | D. | vacuum |
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6.
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A(n) ____ gripper is energized by a dc power source.
A. | expandable | B. | vacuum | C. | collet | D. | electromagnetic |
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7.
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A(n) ____ has more than one end effector that can be changed when needed to
execute operations.
A. | automatic tool changer | B. | gripper | C. | robot
arm | D. | axes |
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8.
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The ability of an end effector to tolerate misalignment of mating parts is
called ____.
A. | compliance | B. | repeatability | C. | design for
manufacturability | D. | overload
protection |
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9.
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A remote center compliance device is installed in the ____ of a robot to help
compensate for workpiece misalignment or irregularities.
A. | control | B. | arm | C. | wrist | D. | end effector |
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10.
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A(n) ____ grip is used to grasp objects from the sides with the fingers and
thumb, rather than around the object.
A. | palmar | B. | lateral | C. | oppositional | D. | spherical |
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True/False
Indicate whether the
statement is true or false.
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11.
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The palmar grip is a prehensile movement.
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12.
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Tools are end effectors that perform prehensile movements by grasping objects
and moving them.
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13.
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Mechanical finger grippers move in either parallel or angular motion to grasp an
object.
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14.
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Vacuum grippers deliver 360° of clamping
contact.
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15.
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Collet grippers use a magnetic field to pick up an object.
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16.
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Overload sensors detect obstructions or overload conditions within fractions of
a second.
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17.
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Nonprehensile end effector movements include pushing, poking, punching, and
hooking.
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18.
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Expandable grippers have hollow rubber envelopes that enlarge when
pressurized.
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Completion
Complete each
statement.
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19.
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End effectors are devices attached to the wrist of a(n)
______________________________.
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20.
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______________________________ movements do not require particular finger
dexterity or use of the opposed thumb.
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21.
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End effectors that perform prehensile movements to grasp and move objects are
called ______________________________.
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22.
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A pair of two-finger grippers is often used to construct a(n)
______________________________ gripper.
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23.
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A(n) ______________________________ gripper consists of one or more suction cups
made of natural or synthetic rubber.
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24.
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A(n) ______________________________ device should be installed to prevent damage
to a robot’s arm or wrist if the end effector becomes stuck during an operation.
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25.
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To compensate for misalignment or irregularities in a workpiece, a robot may be
equipped with a(n) ______________________________.
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26.
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______________________________ grippers are used to pick and place cylindrical
parts that are uniform in size, and are available in round, square, and hexagonal shapes.
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27.
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______________________________ grippers can only be used to handle materials
that contain iron.
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Matching
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Identify each end effector grip or movement as prehensile or nonprehensile.
Answers will be used more than once. A. | Prehensile | B. | Nonprehensile |
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28.
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Cylindrical grip
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29.
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Hook movement
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30.
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Spherical grip
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31.
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Palmar grip
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32.
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Lateral grip
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33.
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Spread movement
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34.
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Oppositional grip
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35.
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Push movement
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