Most of this chapter has been concerned with grippers rather than tools as end effectors. As indicated in before section tools are used for spot welding, arc welding, rotating spindle operations, and other processing applications. In this section, let us summarize our discussion of grippers by enumerating some of the considerations in their selection and
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End effectors require power to operate. They also require control signals to regulate their operation. The principal methods of transmitting power and control signal to the end effector are: Pneumatic Electric Hydraulic Mechanical The method of providing the power to the end effector must be compatible with the capabilities of the robot system. For example,
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This theory (Duty ethics) is given by Immanuel Kant, the most famous of the ethicists who regard duties as fundamental rather than good consequences. According to him, right actions require some duties such as be honesty, keeping promises, not to cause suffering to other people, be fair, show gratitude for kindness etc. to others. Duties
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Magnetic grippers can be a very feasible means of handling ferrous materials. The stainless steel plate in example would not be an appropriate application for a magnetic gripper because 18∼8 stainless steel is not attracted by a magnet. Other steels, however, including certain types of stainless steel, would be suitable candidates for this means of
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Virtue Ethics which is based on behavior of moral excellence and criminal and immoral practices. Utilitarianism which implies that do most good for the general people. Duty Ethics – Actions or duties should be done to respect other people. Right Ethics which deals with the human rights. Utilitarianism Utilitarianism says that we ought to produce
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The topic of robot dynamics is concerned with the analysis of the torques and forces due to acceleration and deceleration. Torques experienced by the joints due to acceleration of the links, as well as forces experienced by the links due to torques applied by the joints, are included within the scope of dynamic analysis. Solving
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There are four types of theories on ethics, which help to create the fundamental principles of obligation suitable and applicable to professional and personal conduct of a person in his everyday life. These theories are essential for cause of right action and morality. They are: “Golden mean” ethics (Aristotle, 384 – 322 B.C.). The best
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The virtue of professional responsibility is related with some other senses of responsibility. Moral judgment are based on the moral responsibility which is attributed to some one. More over moral judgment are also attributable with the following other senses of responsibility. A virtue as a characteristic quality If a person is said to be a
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In many cases it is more important to be able to derive the joint angles given the end-of-arm position in world space. The typical situation is where the robot’s controller must compute the joint angles required to move its end-of-arm to a point in space defined by the point’s coordinates. For the two-link manipulator we
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The arm we have been modeling is very simple; a two-jointed robot arm has little practical value except for very simple tasks. Let us add to the manipulator a modest capability for orienting as well as positioning a part or tool. Accordingly, we will incorporate a third degree of freedom into the previous configuration to
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