OIE751-Robotics

Part-A
Answer key
1. What is meant by workspace?
The space in which the end point of the robot arm is capable of operating is called as
workspace in other words, reach ability of robot arm is known as workspace..
2. Give some applications of robots in industries.
Material Handling Application (i) Material transfer application (ii) Machine
loading/unloading application.
(b) Process Application
(i) Welding (ii) Painting (iii) Assembly (iv) Machining
(v) Inspection
3. Represent a vertical reach, horizontal reach and swing of robot

4. State the rule of robots

Obey human being, do not harm human being. Protect itself from harm.
5. Name the important specification of an industrial robot.
(i) Accuracy, (ii) Repeatability, (iii) Reliability, (IV) Resolution, (v) Spatial resolution,
(vi) Precision, (vii) Maximum speed, (viii) Pay load
6. Define work envelope of the manipulator.
Work envelope is defined as the envelope (or) space within which the robot
can manipulate the end of the wrist.
A robot's work envelope is the range of movement.
7. Draw the suitable diagram to represent pitch, yaw, roll.

8. Define world coordinate system and tool coordinate system in a robot system.
World coordinate system: In world space rectilinear coordinates with reference to the
basic coordinate system are used to define the position of the end effector
Vw = (x,y)
Joint (or) tool coordinate system: In joint space, the joint parameters such as rotating
(or) variable link length and twisting joint angles are used to represent the position of
the end effector.
 9. List the characteristics of actuating system
(i) Accuracy, ((ii) repeatability, (iii) Degrees of freedom, (iv) Gravitational (or)
Acceleration, (v) Mobility, (vi) Backlash, (vii) Coordinate system
10. Identify the parameters to be sensed in each joint of robot.
Joints may be described by two parameters such as (1) The offset length (2) The joint
angle. The offset length is the distance from one link to the next along the axis of the
joint. The joint angle is the rotation of one link with respect to the next
about the joint axis.
11. List the few characteristics of good electrical actuators consideration robotics.
1. Uniform torque, 2. High acceleration, 3. High actuating force, 4. High power to
weight ratio, 5. Favourable heat dissipation, 6. Reliable, sturdy and powerful, 7. Good
response for better control
12. Write the end effector design consideration.
1. Surface of the part, 2. Grasping force and grippers, 3. Inherent size variation in
parts, 4. Change in size of part between operation, 5. Scratching (or) distortion of
parts for fragile materials.
13. Where are electromagnetic grippers are employed?
If the to be handled are too large and ferromagnetic in nature, the electromagnetic
gripper may be employed.
14. Write the end effector used for the following application? (i) sopt welding, (ii)
spray painting, (iii) polishing, (iv) glass cups.
1. Spot welding: Spot weld gun (or) spot welding tools
2. Spray painting: Spray point gun (or) spray painting nozzle
3. Polishing: Polisher (or) grinder
4. Glass cup: Glass cups tools
15. Distinguish between gripper and tools
S.NO Gripper Tools
1 A gripper is a device which is mounted on The end effector means the last link (or)
robot wrist Tool (or) End effector end of the robot. At this endpoint the
tools are attached.
2 A gripper enables holding, tightening, A tool enables holding materials, parts,
handling and releasing of an object. tools to perform a specific task.
3 Gripper just like a human hand End effector just like tool
4 The common tooling of a robot that enables it The special tooling for a robot that
to perform a task enables it to perform required work.

16. State the limitation of the stepper motor as a driver system for a robot.
1. Stepper motors typically have a lower efficiency than servo motor.
2. Stepper motors have an overall low power output for their weight and size.
3. Stepper motor typically have a lower efficiency than servo motor.
4. Load do not accelerate rapidly due to the low torque to inertia ratio.
17. What do you mean by interlock in robotics?
In work cell control to check the continuation of sequence of the work cell whenever
needed. For example, after a certain sequence, suppose the next cycle sequence is
required to be performed only under some specified condition. If these conditions are
not met, the sequence needs to be until the required conditions are available. This means
used to apply this check is known as interlock.
18. State he reasons for homogeneous transformations.
Being homogeneous means a uniform representation of rotation, translation, scaling
and other transformations. A uniform representation allows for optimizations.
Homogeneous coordinates are used extensively in computer vision and graphics
because they allow common operations. Homogeneous transformation is allow to
represent translation with matrices. They permit to represent the division by depth in
perspective projection.
19. What is inverse kinematics?
Inverse kinematics is called as reverse kinematics. Inverse kinematics is a scheme to
determine joint angles of a robot by knowing the position in the world coordinate
system.
Pjoint - (ϴ1, ϴ2, ϴ3)
20. List out he four methods of entering commands into the robot controller memory.
1. Online programming, 2. Lead-through programming, 3. Walk through programming,
4. Offline programming, 5. Task programming
21. List any four motion commands in VAL language.
1. MOVE, 2. APPRO, 3. DEPART, 4. D MOVE
22. What are the methods of robot programming.
1. Lead through programming
2. Textual robot language
3. Mechanical programming
23. Write direct kinematics equation of a 3 DOF TRR configuration robot

24. Write the matrix Z axis rotation by the angle of ϴ

25. Why kinematics study of the robot is important?

Robot kinematics applies geometry to the study of movement of multi degrees of
freedom. Kinematic chains that form the structure of robotic system. The emphasis on
geometry means that the links of the robot are modelled as rigid bodies and its joints
are assumed to provide pure rotation (or) translation.222