CRS CRS Robotics Hardware & Mechanical Systems 2 — Questions and Answers
Question 1: What is the primary advantage of a parallel kinematic robot such as a Delta robot?
- Large workspace volume
- High payload capacity
- High speed and accuracy for light payloads (Correct answer)
- Simple programming interface
Correct 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.
Question 2: What does the term 'backlash' refer to in robotic mechanical systems?
- Reverse motor torque
- Lost motion between mating gears or mechanical components (Correct answer)
- Overloading a joint
- Emergency braking distance
Correct 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.
Question 3: Which joint type provides rotation around a single fixed axis?
- Prismatic joint
- Revolute joint (Correct answer)
- Universal joint
- Ball joint
Correct 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.
Question 4: What is the purpose of a force/torque sensor mounted at a robot's wrist?
- Measuring joint speed
- Monitoring temperature
- Measuring forces and torques during end-effector interaction (Correct answer)
- Providing absolute position feedback
Correct 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.
Question 5: What is a servo drive's primary role in a robotic system?
- Mechanical power transmission via gears
- Controlling motor current and voltage to achieve desired motion (Correct answer)
- Managing network communication protocols
- Performing safety monitoring functions
Correct 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.
Question 6: Which robot configuration is best suited for high-repeatability horizontal assembly tasks?
- Articulated 6-axis
- SCARA (Correct answer)
- Cartesian
- Cylindrical
Correct answer: SCARA
SCARA (Selective Compliance Assembly Robot Arm) robots are specifically designed for high-speed, high-repeatability horizontal assembly with rigid vertical compliance.
CRS CRS Robotics Hardware & Mechanical Systems 2
What is the primary advantage of a parallel kinematic robot such as a Delta robot?