Page 13 - Robotics Designing the Mechanisms for Automated Machinery

2 Introduction: Brief Historical Review and Main Definitions

FIGURE 1.1 Android-type robot.

"Robot—A mechanical device which can be programmed to perform some task of
manipulation or locomotion under automatic control." [Note: The meaning of the
words "can be programmed" is not clarified. Programs can differ in their nature, and
we will discuss this aspect later in greater detail.]
"Industrial robot— A programmable, multi-function manipulator designed to move
material, parts, tools, or specialized devices through variable programmed motions
for the performance of a variety of tasks."
"Pick and place robot—A simple robot, often with only two or three degrees of
freedom, which transfers items from place to place by means of point-to-point moves.
Little or no trajectory control is available. Often referred to as a 'bangbang' robot."
"Manipulator—A mechanism, usually consisting of a series of segments, jointed or
sliding relative to one another, for the purpose of grasping and moving objects usually
in several degrees of freedom. It may be remotely controlled by a computer or by a
human." [Note: The words "remotely controlled.. .by a human" indicate that this device
is not automatic.]
"Intelligent robot—A robot which can be programmed to make performance choices
contingent on sensory inputs."
"Fixed-stop robot—A robot with stop point control but no trajectory control. That
is, each of its axes has a fixed limit at each end of its stroke and cannot stop except at
one or the other of these limits. Such a robot with AT degrees of freedom can therefore

FIGURE 1.2 Manipulator or
automatic arm.