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CISC 1003 Exam 2 Questions & Answers 2024/2025
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CISC 1003 Exam 2 Questions & Answers 2024/2025 electric motors - ANSWERSaffordable, small and simple Direct-Current (DC) Motors - ANSWERSspeed of the motor controlled by the input voltage Servo Motors - ANSWERSposition controlled (-180° ~ 180°) Hydraulics - ANSWERSdriven by fluid pr...

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  • August 8, 2024
  • 5
  • 2024/2025
  • Exam (elaborations)
  • Questions & answers

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  • cisc 1003 exam 2 questions answers

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  • CISC 1003

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CISC 1003 Exam 2 Questions & Answers
2024/2025

electric motors - ANSWERSaffordable, small and simple



Direct-Current (DC) Motors - ANSWERSspeed of the motor controlled by the input voltage



Servo Motors - ANSWERSposition controlled (-180° ~ 180°)



Hydraulics - ANSWERSdriven by fluid pressure (sometimes a disadvantage)



Pneumatics - ANSWERSdriven by air pressure



How did we control the speed of the robot? - ANSWERSUse the power level modifier from 1 to 5. (5 by
default)



How is movement generated? - ANSWERSWhen materials react to photo, chemical, thermal or physical
pressure changes.



Number of directions in which robot motion can be controlled: - ANSWERS3,

x=forward and backward

y=side to side

z=up and down



How many degrees of freedom does a free body in space have? - ANSWERS6 degrees of freedom:

3 for position (x,y,z - Translational DOF)

3 for orientation (roll, pitch, yaw - Rotational DOF)

, yaw - ANSWERSrefers to the direction in which the body is facing

ex: its orientation within the xy plane



roll - ANSWERSrefers to whether the body is upside-down or not,

ex: its orientation within the yz plane



pitch - ANSWERSrefers to whether the body is tilted

ex: its orientation within the xz plane



controllable DOF - ANSWERSif there is a direct actuator for the DOF



uncontrollable DOF - ANSWERSmaking motion control more complicated



helicopter - ANSWERSEach of the 6 DOFs can be controlled by an actuator (the rotor)



car - ANSWERSThe lateral movement of a car is not directly controlled by an actuator (so parallel parking
must follow a complicated path called a trajectory)



trajectory - ANSWERSthe path followed by an object moving through space



holonomic - ANSWERSnumber of controllable DOF (CDOF) is equal to total number of DOF (TDOF)



CDOF = TDOF



ex: helicopter (6 dof, all controllable), elevator (1 CDOF and 1 TDOF)



non-holonomic - ANSWERSCDOF < TDOF;

most robots are non-holonomic

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