Nathan George
MAE 4020
Homework 1
Problem 1:
a.)
Gantry robots use the cartesian coordinate system and
typically have a rectangular design. These robots have three
prismatic joints allowing components to slide on its three
perpendicular axes (X, Y & Z). This is also why gantry robots
use the cartesian coordinate system. As it already moves
along the correct axes and typically has a rectangular
workspace.
b.)
Robots that use cylindrical coordinates usually consist of
a vertical column, from which an arm assembly can
move into and away from the column. This creates a
cylindrical workspace making the cylindrical coordinate
system ideal.
c.)
Spherical robots are similar to cylindrical coordinate-based
robots. They retain the main rotating vertical column but add a
horizontal rotating joint allowing the second section of the arm
to move in an arc. Combined with the rotating base this allows
the robot to have a spherical work space, which is why they use
the spherical coordinate system.
d.)
Anthropomorphic robots or articulating robots resemble a
wrist in their range of motion. Usually, an arm like assembly
mounted to a rotating base. With the arm assembly
comprising of two horizontal joints. These axes create a semispherical space, which is why spherical coordinates are best
for this type.
Problem 2:
Scythe Robotics is a local Colorado company specializing in autonomous mowing equipment intended for
use by landscaping and maintenance companies. Scythe’s main product is a fully autonomous lawn
mower that resembles a normal riding mower. It is capable of 3D mapping, object and structure
identification, and route planning & active control.
Problem 3:
Problem 4:
Problem 5:
a.)
b.)
Bibliography
1.) “Articulated robots,” Midwest Engineered Systems Available: https://www.mwes.com/typesof-industrial-robots/articulated-robots/.
2.) “2. industrial robot functionality and coordinate systems,” Inlearc Available:
https://www.tthk.ee/inlearcs/industrial-robot-functionality-and-coordinate-systems/.
3.) “Robots for a Greener World,” Scythe Available: https://www.scytherobotics.com/tech.