1. What are the four coordinate system...

- Cartesian, polar, cylindrical and articulate

2. The three axes that are found on a Cartesian coordinate manipulator.
- X, Y and Z
3. the type of axis motion...
- linear
4. what are the several applications in w/c a Cartesian coordinate manipulator found?
- machine loading and unloading, material handling, part transfer.
5. in what technology group is the Cartesian..
- low technology group
6. what is the axis on the cylindrical coordinate manipulator is the rotational axis?
- theta
7. how many degree...for a cylindrical...
-three
8. what is the typical size of the safety zone for cylindrical coordinate...
-60
9. what is the typical... coordinate manipulator
- 500 1500 mm
10. what axis on the polar coordinate manipulator develops the bending motion?
- beta
11. what type of...
- sphere
12. ....
- articulate

13. how many additional degrees of freedom can be given to a manipulator by adding what?
-two or three
14. what is the typical payload range for manipulator?
- 3 110 kg
15. define the term work envelope
- all programmed point that can be reached by the manipulator motion
16. what is the effect... slope when an end...
- increased size of work envelope
17. identify three types of mountings that the manipulator can have
- angle mount, upright mount and gantry mount
18. what drive system are generally found on low technology manipulators?
- pneumatic
19. what is the typical payload range for medium-tech.
- 22.7 56.7kg
20. what drive system ... spray-painting manipulator.
- hydraulic
21. how are low-technology manipulators generally programmed?
- by the movement of arms and hard stop
22. what size of microprocessors is found in high-technology controllers?
- 16 32 bits
23. identify the 5 major ______ in high-tech controller
- power supply, interface, axis drive board, option boards and microprocessor.
24. what is the range ( not sure) of high-technology controller....
- 32k 64k bytes.

25. identify the type... that placed between the CAD system and the robot controller.
- delta highway
26. what section of memory is reserved for that parameter of the controller?
- operational registers
27. before one programs the robot, what is the first step to be performed?
- zero return
28. which is the used to ensure that all bits have been transmitted?
- parity bit
29. how is information transferred from the teach pendant to the controller.
- serial data transmission
30. which board within the controller will not process axis motion command.
- interfaced printed circuit board.
31. what component allow the operator of the robotic system to move the axis to various position within the work
envelope?
- teach pendant
32. how are different ... separated
- by program numbers
33. positional data for linear is generally given in what units of measurements
- millimeters
34. positional data for angular axis is generally given in what units of measurement
- degrees
35. what part of the programs address identifies motion path axis or axes will travel?
- geometric code
36. what is the speed of all the axes moving together called?
- composite speed

37. speeds for linear axes are generally given in what units?
- mm/s
38. how can the controllers physical memory size be reduced?
- by using external memory devices for programs.
39. in the special programming languages, what one-step command develops axis movement?
- by MOVE statement.
40. what is the final step that is used when one is programming on a CAD terminal?
- moving the axes into position.
41. what is the first step in developing a users program?
- defining the type of robot
42. what information must be available to implement palletizing routine?
- the number of stacks and the number of rows.
43. what type of branching is used for conditions set by the peripheral devices?
- conditional branching
44. name one ... in a program
- to keep tracks of parts count.
45. name three functions... be done to manipulate ...
- clear, add to, or subtract from.
46. ...
- the null condition
47. what is the ... process of converting ... robot language ...
- machine coding
48. what command ... be placed in the first step of the ____ when the program...
- clearing the register

49. the three displays found on teach pendant?
- mode of operation, axes coordinates and positional data
50. which mode of operation that allows the manipulator to be jogged into position and that position recorded?
- teach mode
51. which mode of operation allows the manipulator to move all the programmed positions at program speeds and to
execute all service request.
- test mode
52. which sets of keys on the teach pendant allows the axes to be positioned?
- jogging keys
53. what function does the joystick serve on the teach pendant?
- positioning the axes over the desired position.
54. what two safety features are found on the teach pendant and the operators panel?
- the hold key and the emergency stop button
55. which safety features remove power...
- emergency stop button
56. where is the operational panel located?
- on the controller or at a remote location.
57. what is the MDI panel used for during the programming mode
- inserting and editing data
58. what component of the MDI panel displays program information?
- CRT
59. what system can be used for offline programming application?
- CAD
60. what component ... interface to computer...
- programmable controller

61. what are soft keys used on the teach pendant?
- so that their function can be changed.
62. which keys on the teach pendant adjust the speed of the axis travel?
- federate key
63. which teach pendant allows the programmer to view various addresses of the program?
- display up and display down keys
64. which component can be used to reset an over travel alarm?
- teach pendant
65. where is the on/off button located on the controller.
- part of the MDI panel
66. which key on the teach pendant causes the base of the manipulator to move in the clockwise or counter clockwise
direction?
- theta key
67. after releasing the hold key, what should the programmer do next ...
- depress the start key
68. when the movement of the manipulators ...pressurized fluid, what is the energy called?
- hydrostatic energy
69. what is the value of atmospheric pressure at sea level?
- 29.92 inches
70. define the term velocity of a fluid.
- average speed at which fluid passes a given point during a given period of time.
71. what units are used for the measurement of velocity of a fluid?
- feet per minute, feet per second, inches per second
72. what factors develops pressure as fluids flows through a pipe
- friction

73. at which point is the pressure the greater in a hydraulic system?
- input of the fluid
74. what principle states that the rate of fluid flow remains constant as the cross-sectional area of the pipe changes over
a given length.
- Bernoullis principle
75. which line in a hydraulic system carries the majority of fluid various devices in the hydraulic circuit?
- working line
76. for which component in a hydraulic that is used to convert hydraulic energy into the mechanical energy of the
manipulator.
- pump
77. name the hydraulic actuator can move in two directions.
- actuator
78. what term identifies the amount of fluid required to turn a hydraulic motor one revolution.
- displacement
79. the hydraulic motor must develop a twisting section to overcome the resistance of the load. What is the term used
for this twisting action?
- torque
80. which section of the motor is connected to the load?
- drive shaft
81. which component in a hydraulic circuit allows the flow of a fluid in one direction?
- check valve
82. what is the maximum amount of pressure that can be applied on a gate valve?
- 500 psi
83. which component develops a constant flow of fluid to the various area?
- pump
84. describe the rating oa a hydraulic pump.
- operating pressure and output measured in gallons per minute.
85. why does the baffle plate....
- to reduce turbulence in the reservoir
86. why is conditioning unit needed for a pneumatic system?
- to supply oil to the air, which reduces the friction.
87. define the function of the electric motor as it is used on the manipulator and name the type of power they operate
from.
- electric motor are used to convert electric power into mechanical power for axes motion. They operate from either
DC or AC power.
88. state another name for the rotor used in DC motor.
- armature
89. what component of the DC motor connects the DC power to the rotor?
- brushes that connect DC power through the commutator.
90. which DC motor develops a speed reduction...
- series-wound motor
91. what is the another name for the rapid acceleration of a series wound motor?
- runaway condition
92. which dc motor develops constant torque on the load?
- shunt-wound motor
93. describe the two methods by which the speed of a DC motor can be controlled.
- reducing the voltage applied to the field windings of the motor and reducing the voltage applied to the armature.
94. what is the major drawback of armature control for DC motors
- the variable resistor must be large enough to handle the current flow through the armature.
95. how can the direction of a DC motor be changed?
- by reversing the polarity of the input DC voltage.
96. what cause... motor? (Malabo??)
- a magnetic field is generated around the stator and interacts with the permanent magnetic field of the...
97. what is the... between bifilar... motors?
- the bifilar stepper motor has the stator windings center tapped.
98. discuss the...
- the magnetic field that comes in contact with the semiconductor material will then generate current flow in the...
99. name the two ... Hall effect motor.
- low torque for driving loads and high starting torque.
100. what types of ... squirrel cage
- aluminium or copper
101. which part of the induction motor is stationary?
- stator
102. how is the stator connected in a wire-wound induction motor?
- wired in delta connection
103. define the term synchronous speed.
- speed of the motor related to the input frequency.
104. the rotor of an induction motor cannot turn at the same speed as the synchronous speed of the stator. What is the
difference between two speeds called?
- slip
105. what is the value of the slip when the induction motor is first started?
- 100%
106. what class of squirrel cage motor develops the greatest amount of slip?
- class D
107. name a general robotic application for the wire-wound induction motor
- to lift heavy loads
108. name three ... wire-wound motor?
- smooth accelerator, high starting torque and no over-heating of motor

109. what is the major difference between the open loop and the closed loop servo systems?
- feedback from the actuator to the servo comparator.
110. name the two parameters of the manipulators axis that the servo system is able to control.
- positional data and velocity of the axis.
111. name the characteristics of the servo system that describes how well the servo can respond to sharp changes in
direction.
- frequency response
112. what condition can arise from a poorly designed or a misaligned servo system?
- hunting for the program point.
113. what device in the servo system receives an input signal from the controller and the positioning-measuring device
- positional comparator
114. what circuit ... speed comparison...?
- amplifier
115. what ... angular
- positional transducer
116. what ... transducer ... convert a sample ...signal by the servo..?
- resolution
117. ...
- digital or analog signal
118. ...
- tachometer ___________(something)
119. what type of voltage generated from the output of the velocity transducer?
- DC voltage
120. for what type of robotic system is the linear induction transformer generally used as a positional transducer?
- hydraulic system

121. what is the phase difference between the stator and the rotor coil on a resolver?
-90 deg
122. name for the component that make up an optical shaft encoder
- incandescent lamp or LED, disk with alternating pattern of translucent and opaque pattern, sensor to detect the
presence or absence of light and electronic circuit...
123. what do types of data does the incremental encoder supply to the servo system?
- positional information and velocity information.
124. how many pulses generated in each revolution of the incremental encoder?
- 2500 pulses
125. describe how the accuracy of an encoder system can be increased.
- by passing the pulse count through a multiplier circuit.
126. what type of encoding system gives a Gray code output?
- absolute system
127. what is the Gray code encoder used as....?
- as the position changes, the output of the encoder will change by only one number.
128. what signal does the servo amplifier increase in strength?
- positional error signal
129. name three requirement of a servo amplifier system used in industrial robotic system.
- high input impedance, large voltage gains and operation w/in a good temp coef.
130. during the movement of an axis, what two registers does the microprocessor sample...?
- the positional register and the command register.
131. ... forces applied to a body at rest.
- statics
132. define the term kinetics.
- the study of forces on a rigid body in motion and the effects the forces have on that body.

133. which type of transfer of energy deals with the pulleys, belts, and chains.
- mechanical transfer.
134. a manipulator produces 2250 foot-pounds of work over a distance of 22.5 feet. What is the force required to
develop work?
- 100 soln: 2250/22.5 = 100
135. define the term power.
- the distance times a force divided by the amount of time....
136. name the two types of energy for a manipulator.
-potential energy and kinetic energy.
137. what type of energy is developed by a mass in a motion
- kinetic energy.
138. the gripper of the manipulator is holding a part 3 feet above the workstation. The weighs 10 pounds, what is the
amount of mass that the gripper would have to lift?
-
139. what amount of torque required to move a 10 pound weight that is located 15 inches from the center of the axis
manipulator?
-
140. give another name for the ??? gear?
- pinion
141. which measurement of the gear taken from the pitch circle to the tip of the tooth of the gear?
- addendum
142. on a spur gear, what is a good rule of thumb for the whole depth of the gear?
- the whole depth should be at least twice the depth of the addendum.
143. what is the name of the angle formed when two gears met?
- pressure angle
144. what is the typical range of pressure angles for spur gear?
- 14.5deg to 20deg
145. what type of gear is placed between the pinion and the driven gear to rotate in the same direction as the pinion?
- idler gear
146. what type of gear train is comprised of several gears connected to the gear shaft?
- compound gear train
147. what type of gear ... planetary ... sun gear?
- planetary gear train