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Robotics QB1

The document contains questions related to robotics across various topics like robot configurations, subsystems, drives, degrees of freedom, forward and inverse kinematics, actuators, grippers, sensors, programming, and applications. Some key areas covered include the four basic robot configurations, the architecture of a robotic system, homogenous transformation matrices, degrees of freedom, Denavit-Hartenberg parameters, position sensors, lead-through programming, and applications in material handling, assembly, welding and coating.

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Abhilash Nandakumar
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119 views

Robotics QB1

The document contains questions related to robotics across various topics like robot configurations, subsystems, drives, degrees of freedom, forward and inverse kinematics, actuators, grippers, sensors, programming, and applications. Some key areas covered include the four basic robot configurations, the architecture of a robotic system, homogenous transformation matrices, degrees of freedom, Denavit-Hartenberg parameters, position sensors, lead-through programming, and applications in material handling, assembly, welding and coating.

Uploaded by

Abhilash Nandakumar
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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1 Marks

1st  What is a robot?


 Name an entertainment robot.
 1. Which of the following is not functionality of robotics?
 (a) Efficient performance, (b) Multi-functionality. (c) Re-programmability, (d)
Responsibility
 2. What is AGV?
 Why are some workspaces empty?
 What type of basic arm does the PUMA robot have?
 What type of control is suitable in welding operations
 Define forward kinematics
 Define inverse kinematics
 What is the purpose of a wrist?
 What is its typical degrees-of-freedom (DOF) in an industrial robot?
2nd
 Clockwise of Anti clockwise rotation about the vertical axis to the perpendicular arm
is provided through ________.
 What is an actuator?
 When are hydraulic actuators preferred in a robot system?
 Why are pneumatic actuators preferred in factory set-up robots?
 Why is a storage tank necessary in pneumatic actuators?
 Which component basically provides the mechanical motion?
 What is the main drawback of using adhesive gripper?
3rd
 Give an example of infrared sensor.
 Which of the following sensors determines the relationship of the robot and its
environment and the objects handled by it
(a) Internal State sensors, (b) External State sensors, (c) Both a and b, (d) None of the
them
 Define sensitivity
 Define linearity
 Distinguish accuracy from repeatability
 Name some velocity sensors?
 What is a machine vision?
 Name the major components of a vision system?
 Name at least three devices used in signal conditioning.

4th
 6. Future-generation robot languages should be
(a) Model-based, (b) Task-based languages, (c) Both a and b, (d) None of the them
 What are the generations of robot languages?
 Name a few robot languages
5th Robot comes under which type of automation?

5 Marks

1st  Write a short note on Cartesian Coordinate system


 What are the different subsystems of a robotic system?
 Why are transmissions used in a robot manipulator?
 When should a belt-pulley be used over gears?
 What are different ways of classifying a robot?
 If the two links of a two-link planar manipulator have equal lengths, find out the expression for
the homogeneous transformation matrix.
 Find the overall transformation matrix for the prismatic-revolute planar arm robot shown in Fig.
5.31
 What is Jacobian of a robot system?
 Calculate the Jacobian of a two-link planar arm when q1 = 45º and q2 = 20º.
 Differentiate flexible automation and fixed automation.
2nd  List the advantages and disadvantages of Electrical Actuators
 Explain the pivoting or swinging gripper mechanism of mechanical gripper with schematic
diagram.
 Explain the working of magnetic gripper with diagram. State the advantages of magnetic gripper.
 Describe the functional differences of steppers, dc, and ac motors.
 State different types of hydraulic actuators.
 What is the function of direction control valve
 List advantages and disadvantages of a pneumatic actuator
 What is friction-based gripper? What are the limitations of friction-based grippes?
 What are the types of End effectors?
3rd  Explain the mechanism of Strain-gauge Sensor.
 State the physical characteristics in sensor selection.
 What are the essential components of a sensor with their functions?
 Why are position sensors not preferred to obtain velocity and acceleration?
 What are contact and noncontact type sensors? Name some contact and noncontact type sensors.
 What are the typical difficulties in a vision system?
 Why is signal processing important?
 Define different types of filters
 What are the characteristics one should check while selecting a sensor?
4th  What is Lead Through Method and Tech Pendent Method of Programming
 Describe online programming.
 What are the advantages and disadvantages of online programming?
 What are the types of online programming?
 What is the difference between lead-through and walk-through programming?
 What are the typical features of a teach pendant?
 What are the types of offline programming?
5th  Write down different applications of industrial robots?
 What features are required for robot in spray painting?

15 marks

1st  Sketch and explain the four basic robot configurations classified according to the coordinate
system [12]
 Discuss in detail the architecture of robot system [8]
 Determine the transformation matrix T that represents a translation of ‘a’ units along x-axis,
followed by a rotation of β about x-axis and followed by a rotation of Ө about z-axis. [8]
 What is homogenous transformation matrix? Explain four sub matrices. [8]
 What are the common types of motion that a robot manipulator can make in travelling from point
to point? [15]
 Explain the various drive system used with an industrial robot and compare their features, merits
and demerits. [8]
 What do you understand by degree of freedom (DOF)? How many DOFs are required to position
an end effector at any point in 3-D space? [8]
 Define DH parameters. [4]
 What are types of automation? Explain them with examples. [8]
 What is the role of D-H notation? Explain their importance in solving Forward Kinematics. [8]
 For the point [3 7 5] perform the following operations: a) Rotate 300 about X-axis b) Translate 8
units along y-axis c) Rotate 300 about x then translate 6 units along Y- axis. d) Rotate 900 about
z-axis.
 Differentiate servo controlled robot and non-servo controlled robot? [3]
 ) What is the work envelope of a robot sketch and explain two views to indicate the work envelope
of a cylindrical robot. [8]
2nd  Discuss about Vacuum Grippers along with their advantages and disadvantages. [8]
 Describe the classification of robots by control system. [8]
 Explain the working of a stepper motor. [8]
3rd  Briefly explain the working principle of any two types of position sensors with neat sketch. [8]
 What are the limitations of potentiometer? [4]
4th  Write down the capabilities and limitations of Lead through methods [8]
 What are the methods of teaching a robot? [4]
5th  Describe the various considerations taken into account for material handling. [8]
 Explain use of robot in assembly operation. [8]
 What features are required for robot in spot welding? [4]
 Describe the Spray coating operation with robot system. [8]
 Explain application of robot in robot continuous arc welding [8]

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