After text activity

I. Reading Exercises:

Exercise 1. Read and memorize using a dictionary:

Accuracy, payload, acceleration, over a short distance, repeatability, calibration, motion control, velocity, power source, gears, joint, torque, compliance.

Exercise 2. Answer the questions:

1) Why do some designs trade limitations in motion?

2) How must motion be controlled for arc welding?

3) How do robots connect electric motors to the joints?

Exercise 3. Match the left part with the right:

1.Speed- how fast	a) the robot can reach a commanded position.
2.Accuracy-how closely	b) the robot will return to a programmed position.
3.Acceleration-how quickly	c) the robot can position the end of its arm.
4.Repeatability-how well	d) an axis can accelerate.

Exercise 4.Open brackets choosing the right words:

Accuracy – how closely a robot can (reach/get) a commanded position. Accuracy can (differ/ vary) with speed and position (within/in) the working envelope and with payload (see compliance). It (can/must) be improved by Robot calibration.

The speaking module

II. Speaking Exercises:

Exercise 1. Describe acceleration, repeatability, compliance, accuracy, drive using the suggested words and expressions as in example:

acceleration

the rate, change, velocity with respect, time.

repeatability

the ability, a robot, to reposition , to stop, a location ,it is directed , it is commanded.

compliance

the displacement, linear ,mechanical system , a unit force.

accuracy

exactness,careful,precision

drive

a mechanism,force,power,a machine

Exercise 2. Ask questions to the given answers:

1) Question: ___________________________________?

Answer: Classes of robot kinematics include articulated, cartesian, parallel and SCARA.

2) Question: _____________________________?

Answer: Using gears results in measurable “backlash” which is free movement in an axis.

3) Question:_____________________________?

Answer: Working envelope-the region of space a robot can reach.

The writing module

III. Writing exercises:

Exercise 1. Complete the sentences with the suggested words: to, as, within, by, if, into.

Repeatability - how well the robot will return ___ a programmed position. This is not the same____ accuracy. It may be that when told to go ___ a certain X-Y-Z position that it gets only to ________ 1mm of that position. This would be its accuracy which may be improved___calibration. But ____that position is taught _____ controller memory and each time it is sent there it returns to ______ 0.1mm of the taught position then the repeatability will be _____0.1mm

Exercise 2. Fill in the table with words and expressions from the text

	parts	ability	place
two axes required are
Kinematics-the actual arrangement
Speed-how fast the robot
Accuracy-how closely the robot

:

Exercise 3. Compose a story on one of the topics (up to 100 words):

“Accuracy and repeatability”

“Motion control and power source.”

“Drive and compliance.”