Table of Contents
Unit I Principles of Robotics
Chapter 1 Introduction to Robotics 2
1.1 Early Robots 4
1.2 The Evolution of Robots 6
1.3 Classifications of Industrial Robots 9
1.4 Types of Automation 12
1.5 The Role of Robots in the Workforce 12
Chapter 2 Fundamentals of Robotics 18
2.1 Parts of a Robot 20
2.2 Degrees of Freedom 26
2.3 Classifications of Robots 29
2.4 Configurations of Robots 37
Chapter 3 Safety 52
3.1 General Safety 54
3.2 Safety with Tools and Equipment 58
3.3 Robotic Safety Considerations 62
Chapter 4 Robot Programming 70
4.1 The Evolution of Programming 72
4.2 Motion Control 73
4.3 Programming Methods 78
4.4 Programming Languages 80
4.5 Types of Programming 82
4.6 Voice Recognition 86
Chapter 5 Industrial Applications 92
5.1 Integrating Robots into the Manufacturing Process 94
5.2 Selecting a Suitable Robot 96
5.3 Using Robots in Industry 99
Unit II Power Supplies and Movement Systems
Chapter 6 Electromechanical Systems 128
6.1 Automated Systems and Subsystems 130
6.2 Mechanical Systems 132
6.3 Electrical Systems for Sensing, Timing, and Control 133
6.4 Rotary Motion Systems 136
Chapter 7 Fluid Power Systems 176
7.1 Fluid Power System Models 178
7.2 Characteristics of Fluid Flow 181
7.3 Principles of Fluid Power 183
7.4 Fluid Power System Components 186
7.5 Hybrid Systems 203
Unit III Sensing and End-of-Arm Tooling
Chapter 8 Sensors 248
8.1 How Sensors Work 250
8.2 Types of Sensors 253
8.3 Sensor Applications 264
Chapter 9 End Effectors 284
9.1 End Effector Movement 286
9.2 Types of End Effectors 287
9.3 Changeable End Effectors 293
9.4 End Effector Design 294
Unit IV Control Systems and Maintenance
Chapter 10 Computer Systems and Digital Electronics 302
10.1 Computer Systems 304
10.2 Digital Number Systems 310
10.3 Binary Logic Circuits 316
10.4 Computer Programming 324
Chapter 11 Interfacing and Vision Systems 342
11.1 Interfacing 344
11.2 Machine Vision 349
Chapter 12 Maintaining Robotic Systems 354
12.1 Troubleshooting Robotic Systems 356
12.2 General Servicing Techniques 358
12.3 Preventive Maintenance 362
Chapter 13 Robots in Modern Manufacturing 374
13.1 Using Robots in Manufacturing 376
13.2 Evaluating Potential Uses for Robots 378
13.3 Preparing an implementation Plan 382
Chapter 14 Robotic Applications and Innovations 390
14.1 Fully Automated Factories 392
14.2 Robots Outside the Factory 393
14.3 Artificial Intelligence (AI) and Expert Systems 395
14.4 Impacts on Society 396
14.5 Evolution of Robotic Applications and Innovations 399
14.6 Your Future in Robotics 399
Chapter 15 Designing and Constructing a Robot 406
15.1 Robot Design 408
15.2 Materials Selection 408
15.3 Motion and Motion Control 411
15.4 Intelligence 417
15.5 Sensors 423
15.6 Troubleshooting 430
Math Skills Handbook 438
Glossary 464
Index 482
