16.4 PRACTICE PROBLEMS

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7. Suggest a type of robot suitable for the following tasks. Briefly explain your suggestion.

a) placing pallets on rack shelving

ans. cartesian - well suited to cartesian layout of shelves.

b) electronics assembly

ans. scara - will work on a flat table well.

c) loading and unloading parts from an NC mill

ans. articulated - can easily move around obstructions.

8. Suggest a type of robot suitable for the following tasks. Briefly explain your suggestion.

a) a gas pump robot for placing the gas nozzle into the fuel tank.

b) for drilling holes in a printed circuit board.

c) to vacuum a hotel.

3. We plan to use a pneumatic gripper to pick up a 4 by 8 sheet of glass weighing 40 lbs. Suggest a gripper layout and dimensions of the cups. State any assumptions.

4. A vacuum pump to be used in a robot vacuum gripper application is capable of drawing a negative pressure of 4.0 psi compared to atmospheric. The gripper is to be used for lifting stainless steel plates, each plate having dimensions of 15" by 35", and weighing 52 lbs. Determine the diameter of the suction cups to be used for the gripper if it is decided to use two cups for greater stability. A factor of safety of 1.5 should be used in the computations.

5. Consider the following gripper design problems.

a) We plan to use a friction gripper to pick up a 50 lb iron plate. Suggest a gripper design and specify the force required.

b) Design an end effector, and describe the path planning approach for a robot unloading satellites from the space shuttle.