Computer-aided Design, Selection, and Evaluation of RobotsChoosing 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 according Additional DOF obtainable Additional Movement algorithm axis Link CAD/CAM calculated camera CASOR chapter characteristics choose chosen CODE 34 LEVEL CODE 46 Computervision control system database DEG/SEC CODE DEGREES CODE degrees of freedom developed DOF type(s drive system dynamic EFFECTOR endeffector evaluation Extra DOF feedback Figure force feedback gripper HORIZONTAL REACH hydraulic IN/SEC CODE INCHES CODE Industrial Robots INPUT JOINT BASED kinematic Link 1 Joint Link 2 Link load magnetic manipulator microprocessor MOTOR CODE pneumatic possible set Column 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 SENSORS CODE sensory system servo SERVO-CONTROLLED specifications STEPPER MOTOR STEPPING SWITCHES structure SUBROUTINE suction Symposium on Industrial tasks torque transducers Unimation University of Nottingham variable velocity VERTICAL REACH visual workcell wrist pitch x-axis y-axis