14.6 PRACTICE PROBLEMS

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1. a) What are some basic functions expected on a robot teach pendant

b) Describe how a computer can help avoid debug robot programs without a robot being used

2. Write a short program to direct a Mitsubishi RV-M1 robot to pick up and put down a block. Assume the points have already been programmed with the teach pendants.

3. What is the workspace for each of the robots below, and can the robots reach all positions and orientations in the workspace?

4. Why are 5 axis enough for some robotic applications (eg. welding) and all NC milling operations?

5. You have been asked to write a program for a Mitsubishi RV-M1 robot. The program is to pick up a part at point T1, move to point T2, and then load the part into a pallet. The robot should then return to point A to pick up then next part. This should continue until the pallet is full.

T1 = (300, 300, 20)

T2 = (-300, 300, 0)

Pallet has 6 rows and 7 columns

Pallet origin T3 = (300, 0, 0)

Pallet end of row T4 = (350, 0, 0)

Pallet end of column T5 = (300, 60, 0)

6. Given the scenario below, find the minimum angular resolution of the rotating sensor.

- the robot has +/- 0.5" accuracy

- the pallet can slide +/- 0.1" on the belt

- the driving motor is continuous, and can be run to any angle

- the rotating sensor is an incremental encoder, every rotation of some small angle it issues a pulse. But, because of the construction of the device, it has a minimum resolution for angular measurements

- the robot must be able to touch the part to pick it up

- the tool on the end of the robot is a 1" magnet, and it must be able to touch the part completely to pick it up.

- pulley size is 10" dia.

7. Consider a double jointed manipulator as shown below. It is subjected to a loading at the tip of 8 lbs, and works in a heated environment (i.e. T0(room temp.) = 60°F and T1 (working temp.) = 80°F.

a) Determine the elongation of the manipulator.

b) Determine the total linear deflection of the manipulator.

c) Determine the total final accuracy of the manipulator of the tip of the manipulator.

8. For the robot pictured below, assume the that a maximum payload of 10kg is specified. The joints are controlled by stepper motors with 200 steps per revolution. Each of the joints slides, and the gearing is such that 1 revolution of the stepper motor will result in 1" of travel. What is the accuracy of the robot?

9. Consider a double jointed manipulator as shown below. It is subjected to a loading at the tip of 8 lbs, and works in a heated environment (i.e. T0(room temp.) = 60°F and T1 (working temp.) = 80°F.

a) Determine the elongation of the manipulator.

b) Determine the total linear deflection of the manipulator.

c) Determine the total final accuracy of the manipulator of the tip of the manipulator.