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OP$"DATA":RE$"DATA":DA$:SC$:CL$:FI$SC$"SCORES":10?5330?+50c?0 |?<<0C>>>30c33> > L3  + scccc0csCsc`Cx [~cccc033sCCcpCLf<  ?>33?330333333~ + 35f3}M SHOPWARE Educational Systems products are guaranteed to function as advertised and in keeping with the documentation which accompanies the software. The diskettes are guaranteed to always be free of defects due to manufacturing, programming, handling 4츘 - " *̆-7Ԕ𿏀!  Հ$ )    &𸟇𜌎# Յ Ȉ  %  Օ lnopqrstuvwxyz{|Ձ\Y  [  TԄ[츘:*(FpՀՀkiՐ!ܜd 𰰀aс ǀa𿇀^ԃ ames are registered >.trademarks of their respective owners. >C >F >}SHOPWARE >$SHOPWARE.N >}TITLE >.Robotics Fundamentals >.Copyright (c) 1989 >.SHOPWARE Educational Systems >$TITLE.N >Y5 >.Text by Donn Leiske >.Art by Wayne Roseberry >C >.Program by >.Steve Luce, Ken Linder >.and Kevin Horne >C >Y5 >.Brand and product nwner! Simply return the disk to SHOPWARE and we will promptly send you a replacement disk. We stand behind our software! SHOPWARE Educational Systems Route 1, Box 330-E Aberdeen, WA 98520 (206)-532-3392 >P >F hjand shipping. If the purchaser uses a backup at all times, and the SHOPWARE diskettes are stored safely, SHOPWARE will replace, without question, any defective SHOPWARE product. >P This service is offered even if the error is a mistake on the part of the o:Հ>T  ]𿏜]Օ]^Յ  Ӏa aՅ Ձiب ĄnՁՀpu 1@BEH@BEH("B (**x C8x@???>82$($($($28>??????@tptptptpttptptDp$t0p0tp|p4p~~~~~~?*U*UUxxx|~~ŝ?xpq?x?pp?8~~~~|}pweikKS}||q?U*U**'?|ycO??pp~`~ ppp~<||}??? ``~Յ`~~~D]]A[SGgO ?GqU*U**  aA|y|~~~~>>^^>>~~~~~~~|'''/+*""&&"&":;+)l*U*UU||||~ ACx(T  T(CCCK'CU*U**iP(Pn (  wTP@PUz**(((**E{(({+Kjw?_Oooogwwwwwwwww7?gooO_?; ppooO_???)? pp~~~~|}}y{{swgooO_???/O/OOm @@@I+@@@h  @@PI P@@@J - ( $D  D PPPP)( RPFU A (U?@@@Z ? 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'$TEXTO %ALBUMIhINDEXhSystems SW560 5 /SW560A.3/L5 T111 ROBOTICS ROBOTICS FUNDAMENTALS INTRO.FILE 5 Parts Identification SW560 1 /SW560A.1/L1/ T111 Industrial Robots SW560 2 /SW560A.1/L2/ T111 Microcomputer Controllers SW560 3 /SW560A.2/L3/ T111 Robot Control Programming SW560 4 /SW560A.2/L4 T111 Robot Sensing 4 SHOPWARE 0 SHOPWARE.N 1753 TITLE 4698 TITLE.N 7281 .END 7960  Ā@ #*I` `$@`gEDD#@<`~ 4`7L@ ,24Y@@'Xx  x=  9x  x=  @@@8*X@``@@@ 5````````````````` U*U*U U*U*Uxy{~~~{yx~~rs~rr *U*U* *U*U*?_OooO_?'?_OooO_?U*U*U U*U*U~<00$$ 8 LlllllL  *U*U* *U*U*fv~~~~~~>Y@@Y U*U*U U*U*U`GOOG`gOO@L\||||||x1801 *U*U* *U*U*sssssss*ULLLL LLL>n`n~>q366v663q *U*U* *U*U*0cggcpqyc?}9LllgllL U*U*U U*U*U ))!sssLMONLLL00000 *U*U* *U*U*bwwszzx|< go{x{og ?<8:37&, CGO_ *U*U* *U*U* @@~~~| U*U*U U*U*UOOO@OOOOsssssssa?ccc?cccc *U*U* *U*U*9yyyyyyq8998<<99p p U*U*U U*Urur5252ur5rurururururururururururururururururu2525rururur(T*U* *U*U*qqqqU*U*U U*U*U|qwgohhogwq||qwgohhogwq|*U*U* *U*U*??U*U*U U*U*UcsG{s>}BORD2 ROBOTICS PARTS AND TERMINOLOGY The amount of movement that a robot can have is determined by the number of `AXES." Axes are the twisting and turning movements at given points on the robot. The more axes available on the robot, the more freedom thebots. >C >}PAY1 Often robots that have a lower payload capability are more accurate, so each type of robot is needed for specific kinds of applications. >>NOEVIL2 The robot is deaf, dumb, and blind without the addition of some options that allow the robot oses for grabbing and holding objects. >*PARTS.F19119 >}PAY1 The heaviest object that the robot gripper can lift is called the robot's `PAYLOAD." >$PAY.N The lifting capability of low-tech robots is usually low compared to medium or high-tech industrial ro8920 These can be motors that run on electricity, air, water, or oil. >*PARTS.F18920 The end of the robot arm is called the `GRIPPER." >*PARTS.F19119 This hand-like device, some- times called the `end effector", is usually a simple device that opens and clULA- TOR". It is a series of joints and linkages used to make the robot able to perform lifting kinds of functions. >*PARTS.F18341 `ACTUA- TORS" are the drive devices that make the manipulators move to positions predetermined by the controller. >*PARTS.F1may be in or connected to the robot, be- gins and ends all movements in the robot. >*PARTS.F17812 The controller can be as small as a simple mechanical rotary drum or as complex as a complete computer system. >*PARTS.F17812 The robot arm is called a `MANIPbase. >*PARTS.F17655 The robot's moving joints are provided with energy and regulated by the `POWER SUPPLY". The energy can be electrical, pneumatic, or hydraulic. >P The `CONTROL- LER" is the brain of the robot. This computerized part of the robot, which n motion of the entire robot is another of the many axes that can be on ten axes robots. >P This movement is called `VERTICAL TRAVEL." >$VERT.N >}PARTS.F The bottom of the typical industrial robot is called the `BASE." All of the robot is supported by the f the robot's arm in a twisting movement. >$WRISTROT.N >}C1 Some industrial robots have ten axes which can include the entire robot moving on the floor or some railroad-like tracks. This movement is called `HORIZONTAL TRAVEL." >$C.N >}HORIZVERT Up and dowbot arm up and down. >$SHLD.N >}FIVEAXBASE The `ELBOW BEND" rotates the robot's arm at the middle of the arm. >$ELBOW.N >}FIVEAXBASE The `WRIST BEND" bends up and down the end of the robot's arm. >$WRISTB.N >}FIVEAXBASE The `WRIST ROTATION" moves the end osembly line work. >>FIVEAXBASE Most industrial robots have more than two axes. An industrial robot with five axes may include the column rotation as well as four other movements that are typical of a human arm. >>FIVEAXBASE The `SHOULDER BEND" moves the ro waist twisting action. >P The `EXTEND & RETRACT" movement is comparable to a human's arm reaching in and out. >P A robot with two axes of movement would be used for performing simple transfer operations such as loading and unloading items or for simple as robot will have. >>TWOAXCL1 A simple robot may have two axes of motion such as this robot that rotates on its column... >$TWOAXCL.N >}TWOACEXT1 ...and also moves in and out. >$TWOACEXT.N >}TWOAXCL1 The `COLUMN ROTATION" movement is comparable to a human'sto detect motion... >P ...temperature, pressure, and how close an object is to the robot. >>SENSING.F The robot is able to react to light with `OPTOELEC- TRONIC SENSORS." >*SENSING.F17929 Two parts make up this type of sensor: a `LIGHT EMITTING DIODE" sends out a light or heat beam. >*SENSING.F17929 This is then received by the `PHOTOTRAN- SISTOR." >*SENSING.F17929 The first is the `EMITTER" while the other is the `DETECTOR." >*SENSING.F17929 >}PACKING1 An example of how optoelectronic sensing systems work for the devices that make the manipulators move? A. Manipulator controllers B. Control Manipulators C. Actuators D. Activators E. Manactivators >#C Actuators make the manipulators move. >E >B >P 10. What device is made up of a light-emitting diodrgy can be supplied to the robot by the power supply. >E >B >P 8. The `controller" is what part of the robot? A. Movable feet B. Brain C. Arm D. Gripper E. Wiring system >#B The brain of the robot is the controller. >E >B >P 9. What is the namet and pulling back. >E >P >B 7. The robot's power supply provides what kind of energy for the robot? A. Electrical energy B. Pneumatic energy C. Hydraulic energy D. All of the above E. None of the above >#D Electrical, pneumatic, or hydraulic enetwisting. >E >P >B 6. An arm reaching out and pulling back is similar to what axes on the robot. A. Elbow twist B. Wrist twist C. Extend and retract D. Air shock E. Muscle bend >#C Extend and retract movement is similar to a human arm reaching ou or bend. >E >P >B 5. The robot's column rotation axes is similar to what movement on a human body? A. A head shaking B. A mouth talking C. A foot stomping D. A knee bending E. A waist twisting >#E A robot's column rotation is like a human waist E. Squeeze and clamp >#B The robot's wrist can bend and rotate. >E >P >B 4. The points at which a robot can twist or bend are called what? A. Benders B. Twisters C. Axes D. Axles E. Transaxles >#C Axes are the points at which a robot can twisthead E. The arm lift >#A Vertical travel is the up and down movement of the entire robot. >B >E >P 3. The robot's `wrist" can sometimes move in two directions. What are they? A. In and Out B. Bend and Rotation C. Twist and roll D. Rock and roll nipulator E. Activator >#D The manipulator is the name for the robots arm. >E >B >P 2. Vertical travel is the name for the robots movement in which direction? A. Up and down B. Side to side C. Twisting of the robots head D. Nodding of the robots hickness, and levelness. They can also do more complicated tasks such as helping mobile robots move about without running into objects that might be in their paths. >>M >B 1. What is the name of the robot's arm? A. Controller B. Wrist C. Elbow D. Mactronic sensing systems that measure light, the ultrasonic sensors have a transmitting unit which sends the sound signal and a receiving unit which records the signal as it comes back to the robot. >P Ultrasonic sensors can help robots to measure motion, thermal measuring devices. >*SENSING.F18045 Sometimes robots are used to react to sounds that are far beyond the range of human hearing. >*SENSING.F18177 These measuring devices are called `ULTRASONIC SENSORS." >*SENSING.F18177 >}ULTRASONIC Like the optoeles in heat. >*SENSING.F18045 These devices can be very simple on-off switches similar to a car's turn signal flasher... >*SENSING.F18045 ...or something very complica- ted like thermo- coupling, fluid pressure... >*SENSING.F18045 ...or oscillator types of t the beam of invisible light is broken and the robot knows that the next box is moving into position. >>SENSING.F `TEMPERA- TURE SENSING" is very common in industry. >*SENSING.F18045 Over half of all robot sensing needs have to do with measuring differenceis the industrial robot transferring canned goods from a conveyer belt into boxes for shipping. >P An `INFRARED LIGHT BEAM" is transmitted from the emitter to the detector. >>PACKING2 When a box moves down the conveyer between the emitter and the detector,e and a phototransistor? A. Infragreen metal detector B. Optoelectronic sensor C. Metal detective sensor D. Light transducing triode E. None of the above >#B Optoelectronic sensors are made up of a light-emitting diode and a phototransistor. >E >P You have now completed the quiz on ROBOTICS PARTS AND TERMINOLOGY. >R >P >F ?~x03&'?S__8 ?Caqx|~?Gcqx<NNH@?|pa|Cxppv7777qqs3;9]\Nnhbw7w7h go?p~Cquw>x`?|pC??p~x~x@~~  <<<<<A`~|a~px@?|`|pA?|pAx cx`>~~~~~~|a?p>G7' 00q|#CxCxaAx? a|#?p~a|?q||!?!a|&~`GP^_Cx?a|@x~cx2cxCp~Cx~2c>q|?q|6||}|( 9O\nw{}"??????2?cC{sg?6`~~x@ ?????Cx>swtC1qC~p^~`?Gcqx|>>??>~~|qa|Cx?p~???yffg|sO?~yyCCq===1pdp ||||xx|s s sonu{}~|`p~Cx?a|}|~~}0}yy{Cy||||||x`=cK{{{{s~~~~a|CFp~"?p>G??p~OOGQLn'p|Gq|~|||||||a~pG???????>0Gq|cx~'~pgO????vp~pF~~~~2|a!Lass3#?666nooon@4~|||}}}x{y|(M M>_}.???????OOOO?a| awwvC OoO_XE {|cG?O's,6;muysL0G0~?a| ><=||}==>>Ax|0~xC ~xCHA₊?xC~p? ~86v~~~p?xc?1|~~~~|q?~~~?@ax>cx~|a~p?x|qGxc_Gp??Gq|Gq| ~xC?|q?~xCa|`x>cx~|xp`@xc~xC_~~T~8^|]( O H_v{pp?|?p@?/@Gq|xaÏ?*P@g@Š?????????~s|ᅕÏ? 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The first robots were large, primitive and very limited in what it could do. As made popular by cartoons and toys, today's robots are capab11 SCIFI 0 HARDAUTO 1008 BORD2 2181 SERVOS 2387 LOWTECH 3357 MEDIUMTECH 4104 HIGHTECH 4901 LOWTECH2 5873 SEIKO.A 7275 PUMA250 8537 QUIZ.PIC 9725 .END 12015  _ᘞx Zσ𼿿[燇dӃl ᇇ  . ÏÏÀ? + ! %ʊ𼼼 ] 偙 ^ ϏÀÃÏ灘ᇀ #ϏόÏÏ *ᇟ `Ï ϏϏ@@@營營ᇟ 憞ᇀ À (Ï󃿿7ᆘ  ᆞ ÏϏÏ營營ÀϿ5#5充  ʊ ₂營怙營憘兕x||` 4𼌀0q1 8Ё 8x0 Ђ8 x888x0 9Ѐ GGcq8 ;|~||| ;5?5?ishing the same job over and over again at a fast pace. This type of industrial equipment was called `Hard Automation." >P The moving parts on these machines were controlled by timers, cams, electrical and mechanical stops and switches. >P Hard animation my for assembling complex parts, moving pallets, arc and spot welding, spray painting, and can follow up these jobs by inspecting its own work. >>LOWTECH2 Even though low-technology robots are limited-sequence devices, they do make up about 1/3 of all of ths, but can also be used for die casting. >>HIGHTECH High-technology robots can perform a seemingly unlimited variety of jobs. >>BORD2 The high-tech robot is not only able to do all the jobs of the low and medium-tech robots, but can also be used in industr materials, injection molding, assembling, and doing press operations. >>MEDIUMTECH Medium-technology robots are able to perform a wider range of tasks but are somewhat limited. >P These robots are able to perform the same functions as low-technology robottions. >>LOWTECH Low-technology robots are simply arms that can do the same job over and over again. They can pick an item up and move it to a different location and set it down. >P These robots are used for loading and unloading items, as well as handlinglutionizing industry, by increasing productivity and lowering costs. Today's industrial robots fit into three categories: low-technology, medium-technology, and high-technology robots. Each type of industrial robot is designed for certain kinds of applicaght ask. The advantage of an industrial robot is that it can accomplish many tasks over and over again that would be boring for a human. The robot can do these day-in and day-out without error. >P Industrial robots are not smarter than humans, but are revorm the tasks that a human programmed it to accomplish. Very often these commands take a great deal of human planning for the robot to accomplish even a task that would be simple for a human to perform. >P `So what is the advantage of a robot?", a person miact to a variety of outside signals. The robot could now react and make adjustments to outside changes such as heat, light, sound, and movement. >P This gave people the feeling that robots now had human intelligence. The robot has only the ability to perfo do jobs that were preplanned. The computer was added to the robot, giving the robot seemingly unlimited uses. The computer allowed the robot to not only be preprogrammed to execute a series of duties to be performed in a certain order, but it could now relocation and the robot would move in that direction until the position programmed and the present location were the same. Then the robot could stop, knowing it had arrived at its predetermined destination. >>BORD2 Robots up to this point, were only able totion of servo controls were added to robots. >>SERVOS Servo controls gave the robot the addition of feedback devices which could allow the moving robot to compare its position with the starting position. >P The robot could be programmed to go to a certain do slightly different jobs. This new flexibility of robots added the ability for equipment to be changed to do different tasks. >P But there was still a need for robots to be able to change in reaction to changes in the robot's surroundings, thus the addimall degree of flexibility. Robots were able to perform the same tasks as the hard animation equipment, but could be easily changed to do some different jobs. Robots were unable to react to changes in their surroundings, but could be adjusted in advance toachines were built with a specific job in mind and required a great deal of reworking to allow it to do any other job. This limitation brought about the development of the robot. >>BORD2 The word `ROBOT" was used because it means these new machines had a se industrial robots used in the United States. >>SEIKO.A Medium-tech robots operate at nearly the same speed as low-tech robots, but do not work as accurately as low-tech robots. >P Medium-tech robots have some advantages over low-tech robots. >P The robot `arm" is able to move further in each direction and is able to lift more weight. >P The most important ad- vantage of the medium-tech robot is its ability to learn. >>PUMA250 High-tech robots can be capable of changing speeds, and programmed tasks. Ordersnery. >E >P You have now completed the quiz on INDUSTRIAL ROBOTS. >R >P >F High tech robots can spray paint. >E >P >B 10. Hard animation machinery was controlled by what? A. Timers B. Cams C. Electrical Stops D. Mechanical Stops E. Any of the above >#E All of the above devices were used to control hard automation machihe medium tech robot can learn while the low tech robot can't. >E >P >B 9. Which robots are capable of spray painting. A. Toy Robots B. Only French-made robots C. High tech robots D. Super high tech robots E. None, they cannot hold a spray gun >#C. >E >P >B 8. What is the most important advantage of the medium tech robot as compared to the low tech robot. A. Lighter in construction B. Can speak in foreign languages C. Is able to learn D. Painted newer colors E. There is no advantage >#C Tble to be programmed to do many different tasks easily? A. Hard automation B. Low Technology Robot C. Medium Technology Robots D. High Technology Robots E. Super High Technology Robots >#D High Tech robots can be programmed to do a variety of taskstates? A. Hard automation B. Low Technology Robot C. Medium Technology Robots D. High Technology Robots E. Super High Technology Robots >#B Low Tech robots make up 1/3 of all robots used in industry in the U.S. >E >P >B 7. What kind of robot is a Medium technology robot D. High technology robot E. Super high technology robot >#C Medium tech robots perform a wide range of tasks but are somewhat limited. >E >P >B 6. What kind of robot makes up 1/3 of the industrial robots used in the United SThere is no advantage to using robots in industry >#D Robots do boring work over and over without getting tired. >E >P >B 5. Which kind of robot can perform a wide range of tasks but is somewhat limited? A. Hard automation B. Low technology robot C. to react to changes near the robot. >E >P >B 4. What is the advantage of having robots in industry? A. To put people out of work B. To increase the cost of products C. Robots are smarter than people D. To do jobs that would be boring to people E. to sleep when tired B. The ability to talk C. The ability to make adjustments to its surroundings D. The ability to keep batteries charged indefinitely E. The ability to allow the robots arm to lift more weight >#C Servos allow the robot the ability. >E >P >B 2. What was the forerunner of the robot? A. MPU B. CPU C. CPA D. Hard animation E. Automatic Processing Unit >#D Hard animation was the forerunner of the robot. >E >P >B 3. Servo controls offer robots what advantage? A. The abilityOT" was chosen because of what quality? A. A small degree of flexibility B. A large degree of flexibility C. Great strength D. An extremely wide range of uses E. Computer circuitry >#A The word robot was chosen because robots had little flexibilityr, and more consistently with the use of industrial robots. While robots are taking away many boring jobs from humans, high-technology is offering people new and more exciting career opportunities. >>QUIZ.PIC >.Industrial >.Robots >B >>M 1. The word `ROB can be created, stored on computer disks, reused and changed. >P High-tech robots are on the cutting edge of new uses for robots. >>BORD2 Robots have revolutionized industry. Many boring tasks previously done by people, are now accomplished faster, cheapeDAVID SPONSEL SW560 1 DbcCdeaBad 1/12/93 CARLOS DAVID SW560 2 AceaCdcdCc 1/12/93