Computer-aided Design, Selection, and Evaluation of Robots
Choosing the correct robotic device for a given application usually involves laborious searches through manufacturers' catalogs and comparing lists of specifications. This is no easy matter as selecting between even two robots can be very difficult since many specifications are not simply quantitative measures of robot capabilities, but are often complex issues requiring some expertise in the field of robotics. In this book the author presents an expert system-based FORTRAN software called CASOR which, through an interactive query and response, will produce prototype specifications which can be used to purchase a suitable commercially available robot to perform the desired tasks. To achieve this, the author has provided CASOR with a database of commercially available robots. This database has built-in intelligence to check for feasibility and compatibility with the prototype. The output of CASOR software can also be used to provide a graphical (pictorial) display of the prototype robot on a CAD design system. Incorporated in the software is a technique which evaluates the alternatives using both quantitative and subjective factors.
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9th International Symposium actuator Additional DOF obtainable Additional Movement ALGORITHM axis Link CAD/CAM calculated cameras CASOR chapter characteristics chosen CODE CODE CODE Computervision contd control system conveyor cost database DEGREES CODE degrees of freedom DOF type(s drive system dynamic EFFECTOR electric drive endeffector evaluation Extension/Retraction Figure gripper gripper mechanism HORIZONTAL REACH IIT Research Institute INCHES CODE Industrial Robots INPUT JOINT BASED kinematic linear slide base linkage load magnetic manipulator mass concentration mech microprocessor pneumatic possible set Column prismatic motion prismatic speed PROGRAM QUIT SELECTION range of motion Read Only Memory revolute degree revolute motion robot components ROBOT MANUFACTURER NUMBER Rotation about horizontal SELECTED PROGRAM QUIT SELECTION AT CODE selection process sensory system servo servo-controlled specifications STEPPER MOTOR STEPPING SWITCHES subjective factor SUBROUTINE suction Symposium on Industrial tactile tasks torque transducers University of Nottingham variable velocity VERTICAL REACH workcell wrist pitch x-axis