CRS Robotics Hardware & Mechanical Systems Flashcards

What is the primary advantage of a parallel kinematic robot such as a Delta robot?

Answer: High speed and accuracy for light payloads

Delta robots excel at high-speed, high-accuracy pick-and-place operations with light payloads because their motors are fixed to the frame, keeping moving mass very low.

What does the term 'backlash' refer to in robotic mechanical systems?

Answer: Lost motion between mating gears or mechanical components

Backlash is the small amount of lost motion or play between meshing gear teeth that occurs when motion reverses direction, reducing positioning accuracy.

Which joint type provides rotation around a single fixed axis?

Answer: Revolute joint

A revolute joint provides rotation around a single axis and is the most common joint type found in articulated industrial robot arms.

What is the purpose of a force/torque sensor mounted at a robot's wrist?

Answer: Measuring forces and torques during end-effector interaction

Force/torque sensors measure the forces and torques applied at the robot's wrist or end effector, enabling force-controlled and compliant manipulation tasks.

What is a servo drive's primary role in a robotic system?

Answer: Controlling motor current and voltage to achieve desired motion

A servo drive controls the motor's current and voltage based on feedback signals to achieve the desired position, velocity, or torque commanded by the controller.

Which robot configuration is best suited for high-repeatability horizontal assembly tasks?

Answer: SCARA

SCARA (Selective Compliance Assembly Robot Arm) robots are specifically designed for high-speed, high-repeatability horizontal assembly with rigid vertical compliance.