B-7
183574-1CD
183574-1CD
Appendix B
B.1 Glossary
ArcWorld 50/50S/52/52S
Cyclo Drive
A brand name for a speed reduction device that converts high speed low
torque to low speed high torque, usually used on the major (larger) axis.
Cylindrical Topology
A topology where the arm follows a radius of a horizontal circle, with a
prismatic joint to raise or lower the circle. Not popular in industry.
D
Danger
Indicates an imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Dead Man Switch
.
Degrees of Freedom
The number of independent directions or joints of the robot (R15.07),
which would allow the robot to move its end effector through the required
sequence of motions. For arbitrary positioning, six degrees of freedom are
needed: three for position (left-right, forward-backward and up- down),
and three for orientation (yaw, pitch and roll).
Direct-drive
Joint actuation, including no transmission elements (i.e., the link is bolted
onto the output of the motor.)
Downtime
A period of time, in which, a robot or production line is shut down, due to
malfunction or failure. See
Drive
A speed (gear) reducer to convert high speed low torque to low speed
high torque. See
,
Drop Delivery
A method of introducing an object to the workplace by gravity. Usually, a
chute or container is so placed that, when work on the part is finished, it
will fall or drop into a chute or onto a conveyor with little or no transport by
the robot.
Dynamics
The study of motion, the forces that cause the motion and the forces due
to motion. The dynamics of a robot arm are very complicated as they
result from the kinematical behavior of all masses within the arm's
structure. The robot arm kinematics are complicated in themselves.
E
Emergency Stop
The operation of a circuit using hardware-based components that
overrides all other robot controls, removes drive power from the robot
actuators, and causes all moving parts to stop. (R15.06)
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