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FIGURE 8.37
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An unmanned laparoscopic robotic surgery machine.
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Only a few non-Japanese companies ultimately managed to survive in this market, the major ones being Adept Technology, St ubliUnimation, the Swedish-Swiss company ABB Asea Brown Boveri, and the German company KUKA Robotics.
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8.14.1 Technical Description
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The following are several definitions of robotic terms. Number of axes. Two axes are required to reach any point in a plane; three axes are required to reach any point in space. To fully control the orientation of the end of the arm (i.e. the wrist) three more axes (yaw, pitch, and roll) are required. Some designs (e.g., the SCARA robot) trade limitations in motion possibilities for cost, speed, and accuracy.
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Degrees of freedom. Working envelope. Usually the same as the number of axes. The region of space a robot can reach.
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Kinematics. The actual arrangement of rigid members and joints in the robot, which determines the robot s possible motions. Classes of robot kinematics include articulated, Cartesian, parallel, and SCARA. Carrying capacity or payload. How much weight a robot can lift. Speed. How fast the robot can position the end of its arm. This may be defined in terms of the angular or linear speed of each axis or as a compound speed (i.e., the speed of the end of the arm when all axes are moving). Acceleration. How quickly an axis can accelerate. Since this is a limiting factor, a robot may not be able to reach it s specified maximum speed for movements over a short distance or a complex path requiring frequent changes of direction. Accuracy. How closely a robot can reach a commanded position. Accuracy can vary with speed and position within the working envelope and with payload (see Compliance). It can be improved by robot calibration. Repeatability. How well the robot will return to a programmed position. This is not the same as accuracy. It may be that when told to go to a certain X-Y-Z position, it gets to within only 1 mm of that position. This would be its accuracy, which may be improved by calibration. But if that position is taught into controller memory and each time it is sent there it returns to within 0.1 mm of the taught position, then the repeatability will be within 0.1 mm. Motion control. For some applications, such as simple pickand-place assembly, the robot need merely return repeatably to a limited number of pre-taught positions. For more sophisticated applications, such as welding and finishing (spray painting), motion must be continuously controlled to follow a path in space, with controlled orientation and velocity. Power source. Some robots use electric motors, others use hydraulic actuators. The former are faster, the latter are stronger and advantageous in applications such as spray painting where a spark could set off an explosion; however, low internal air-pressurization of the arm can prevent ingress of flammable vapors as well as other contaminants. Drive. Some robots connect electric motors to the joints via gears; others connect the motor to the joint directly (direct drive). Using gears results in measurable backlash, which is free movement in an axis. In smaller robot arms with DC electric motors, because DC motors are high-speed low-torque motors,
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they frequently require high ratios causing backlash to be a problem. In such cases, the harmonic drive is often used. Compliance. This is a measure of the amount in angle or distance that a robot axis will move when a force is applied to it. Because of compliance when a robot goes to a position carrying it s maximum payload, it will be at a position slightly lower than when it is carrying no payload. Compliance can also be responsible for overshoot when carrying high payloads, in which case acceleration would need to be reduced.
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