Robot Technology Fundamentals

by Keramas, James G.

• ISBN13: 9780827382367
• ISBN10: 0827382367
• Format: Hardcover
• Copyright: 1998-11-16
• Publisher: Cengage Learning

Summary

Robot Technology Fundamentals covers all the practical aspects, disciplines and latest developments of industrial robots and presents them in a simple, logical and gradually progressive manner. Principles and techniques are introduced by practical examples rather than by abstract theory. The content not only discusses current technology but emphasizes the technology of the future. Each chapter ends with a summary, questions and problems as well as a list of reference material for additional learning.ALSO AVAILABLEInstructor's Guide, ISBN: 0-8273-8237-

Table of Contents

Preface	xiii
1. Introduction	1	(20)
Objectives	1	(1)
Automation and Robots	1	(2)
Brief History	3	(4)
The Technology of Robots	7	(5)
Economic and Social Issues	12	(3)
Present and Future Applications	15	(2)
Summary	17	(1)
Review Questions	18	(1)
Problems	19	(1)
References	20	(1)
2. Robot Technology	21	(30)
Objectives	21	(1)
Fundamentals	21	(1)
General Characteristics	21	(2)
Basic Components	23	(18)
Robot Anatomy	41	(2)
Robot Generations	43	(2)
Robot Selection	45	(2)
Summary	47	(1)
Review Questions	47	(1)
Problems	48	(1)
References	48	(3)
3. Robot Classification	51	(32)
Objectives	51	(1)
Classification	51	(1)
Arm Geometry	51	(13)
Degrees of Freedom	64	(1)
Power Sources	65	(7)
Types of Motion	72	(1)
Path Control	73	(5)
Intelligence Level	78	(2)
Summary	80	(1)
Review Questions	81	(1)
Problems	81	(1)
References	82	(1)
4. Robot System Analysis	83	(28)
Objectives	83	(1)
Robot Operation	83	(7)
Hierachical Control Structure	90	(3)
Line Tracking	93	(1)
Dynamic Properties of Robots	94	(10)
Modular Robot Components	104	(3)
Summary	107	(1)
Review Questions	107	(1)
Problems	108	(1)
References	109	(2)
5. Robot End Effectors	111	(42)
Objectives	111	(1)
Types of End Effectors	111	(3)
Mechanical Grippers	114	(3)
Gripper Force Analysis	117	(7)
Other Types of Grippers	124	(7)
Special-Purpose Grippers	131	(2)
Gripper Selection and Design	133	(1)
Process Tooling	134	(2)
Compliance	136	(11)
Summary	147	(1)
Review Questions	148	(1)
Problems	149	(1)
References	150	(3)
6. Sensors	153	(40)
Objectives	153	(1)
Robot Sensors	153	(1)
Sensor Classification	154	(6)
Microswitches	160	(10)
Solid-State Switches	170	(2)
Proximity Sensors	172	(1)
Photoelectric Sensors	173	(3)
Rotary Position Sensors	176	(7)
Usage and Selection of Sensors	183	(1)
Signal Processing	184	(2)
Sensors and Control Integration	186	(1)
Summary	187	(1)
Review Questions	188	(1)
Problems	189	(1)
References	190	(3)
7. Vision	193	(28)
Objectives	193	(1)
Visual Sensing	193	(2)
Machine Vision	195	(11)
Machine Vision Applications	206	(1)
Other Optical Methods	207	(6)
Summary	213	(2)
Review Questions	215	(1)
Problems	215	(4)
References	219	(2)
8. Control Systems	221	(46)
Objectives	221	(1)
Control System Correlation	221	(1)
Control System Requirements	222	(2)
Programmable Logic Controller	224	(15)
PLC Programming Terminals	239	(7)
Proportional-Integral-Derivate	246	(2)
Computer Numerical Control	248	(1)
Microprocessor Unit	249	(5)
Universal Robot Controller	254	(1)
Interfacing	254	(2)
Workcell Control	256	(3)
Summary	259	(1)
Review Questions	260	(1)
Problems	261	(5)
References	266	(1)
9. Programming	267	(42)
Objectives	267	(1)
Robot Programming	267	(3)
Programming Methods	270	(4)
Programming Languages	274	(6)
Levels of Robot Programming	280	(8)
Space Position Programming	288	(4)
Motion Interpolation	292	(2)
Program Statements	294	(2)
Sample Programs	296	(6)
Summary	302	(1)
Review Questions	303	(1)
Problems	304	(2)
References	306	(3)
10. Artifical Intelligence	309	(24)
Objectives	309	(1)
Intelligent Systems	309	(1)
Elements of Artificial Intelligence	309	(7)
System Architecture	316	(5)
Applications of Advanced Robots	321	(4)
Fuzzy Logic Controls	325	(1)
Advanced Concepts and Procedures	325	(2)
Future Developments	327	(1)
Impact on Employment	328	(1)
Summary	328	(2)
Review Questions	330	(1)
Problems	330	(1)
References	331	(2)
11. Safety	333	(18)
Objectives	333	(1)
Robot Safety	333	(1)
Safety Standards	334	(2)
System Reliability	336	(1)
Human Factor Issues	337	(1)
Safety Sensors and Monitoring	338	(2)
Safeguarding	340	(2)
Training	342	(1)
Safety Guidelines	343	(1)
Definitions	344	(2)
Summary	346	(1)
Review Questions	347	(1)
Problems	348	(1)
References	348	(3)
12. Industrial Applications	351	(30)
Objectives	351	(1)
Automation in Manufacturing	351	(1)
Robot Applications	352	(1)
Material-Handling Applications	353	(4)
Processing Operations	357	(2)
Assembly Operations	359	(3)
Inspection Operations	362	(1)
Evaluating the Potential of a Robot Application	363	(1)
Future Applications	364	(1)
Challenge for the Future	365	(2)
Innovations	367	(1)
Case Studies	368	(7)
Summary	375	(1)
Review Questions	376	(1)
Problems	377	(1)
References	378	(3)
Glossary of Selected Terms	381	(22)
Robot Manufacturers	403	(6)
Index	409