EXCEL ENGINEERING COLLEGE

(Autonomous)
DEPARTMENT OF AERONAUTICAL ENGINEERNIG
VII- Semester
20MEO05- ROBOTICS
Regulations 2020
Question Bank
UNIT – I FUNDAMENTAL OF ROBOTS

PART- A
Q.No Questions Marks CO BL
Define a Robot.
RIA defines a robot as a ―programmable, multifunction
CO1
1 manipulator designed to Move materials, parts, tools or special 2 R
devices through variable programmed motions for the
performance of the variety of tasks
Explain the types of rotary joint notations

 Rotational joint (type R) 2 CO1

2 R
 Twisting joint (type T)
 Revolving joint (type V)

What is meant by Work space?

The space in which the end point of the robot arm is capable of 2 CO1
3 R
operating is called as workspace in other words reach ability of
robot arm is known as workspace.
What is meant by accuracy of robot?
2 CO1
4 The robot‘s ability to reach a reference point within the robot‘s full U
work volume is known as accuracy of robot.
What are the benefits of industrial robots?
 Increased Productivity
 Significant Savings 2 CO1
5 R
 Improved Quality
 Better Safety
 Competitive Edge
What is repeatability of robot?
2 CO1
6 Repeatability refers to robot‘s ability to return to the programmed U
point when it is commanded to do so.
What is meant by pitch, yaw and roll?

Pitch is rotation around the X axis, yaw is around the Y axis, and
roll is around the Z axis. Yaw is side to side swinging around an 2 CO1
7 R
axis. Pitch is up and down movement about an axis and roll is
rotatory motion about an axis.

What is work volume?

The volume of the space swept by the robot arm is called work 2 CO1
8 R
volume.
 What is meant by Quality of robot?

A Robot is said to be high quality when the precision and 2 CO1

9 R
accuracy is more.

What is meant by robot anatomy?

Study of structure of robot is called robot anatomy. Manipulator is 2 CO1
10 R
constructed of a series of joints and links. A joint provides relative
motion between the input link and the output link.
What are the three degrees of freedom associated with the arm
and body motion?
 Right (or) left movement (X-axis motion) 2 CO1
11 R
 In and out movement (Y-axis motion)
 Vertical movement (Z-axis motion)
Define an Industrial Robot.
An industrial robot is an automatically controlled,
reprogrammable, multipurpose manipulator programmable in 2 CO1
12 R
three or more axes. A programmable mechanical device that is
used in place of a person to perform dangerous or repetitive tasks
with a high degree of accuracy
Define payload capacity of Robot?
2 CO1
13 The maximum load which can be carried by the manipulator at R
low or normal speed.
Define base and tool Coordinate system
A tool coordinates definition system capable of easily obtaining a
transformation matrix for defining a tool coordinates system of a 2 CO1
14 R
robot. The tool coordinates system at the 0° position of the robot
is rotated around each axis so that the tool coordinates system
becomes parallel to a base coordinates system.
Name the important specifications of an industrial robot.
 Accuracy
 Repeatability 2 CO1
15 R
 Degree of Freedom
 Resolution
 Envelope
What are the four basic robot configurations available
commercially?
 Cartesian coordinate system 2 CO1
16 R
 Cylindrical coordinate system
 Polar or spherical coordinate system
 Revolute coordinate system
Define the term work envelop? 2 CO1
17 R
The work envelop is described by the surface of the work space.
Name elements of feedback system?
 Forward path
 Feedback path
18
 Error detecting device
 Amplifier
 Compensating network
19  Compare open loop control system and closed loop control
system.
  Open loop systems
 It is suitable where accurate positioning of the tools is not
required
 System is very simple
 It is suitable for rough works
 Error is not currently checked and rectified
 Closed loop systems
 The feedback signal controls the table position accurately
 Is used almost in all automation process
 It’s not suitable for rough works
 Error is currently checked and rectified
Define error?
20 Error may be defined as the difference between the measured
value and the true value.

PART- B
Q.N Questions Marks CO BL
o
1 Briefly explain the different types of robots. 16 CO1 U
Industrial robots
Industrial robots are robots used in an industrial manufacturing
environment. Usually these are articulated arms specifically
developed for such applications as welding, material handling,
painting and others. If we judge purely by application this type
could also include some automated guided vehicles and other
robots.
Domestic or household robots Robots used at home. This type
of robots includes many quite different devices such as robotic
vacuum cleaners, robotic pool cleaners, sweepers, gutter cleaners
and other robots that can do different chores. Also, some
surveillance and tele presence robots could be regarded as
household robots if used in that environment.
Medical robots Robots used in medicine and medical institutions.
First and foremost - surgery robots. Also, some automated guided
vehicles and maybe lifting aides.
Service robots Robots that dont fall into other types by usage.
These could be different data gathering robots, robots made to
show off technologies, robots used for research, etc.
Military robots Robots used in military. This type of robots
includes bomb disposal robots, different transportation robots,
reconnaissance drones. Often robots initially created for military
purposes can be used in law enforcement, search and rescue and
other related fields.
Entertainment robots These are robots used for entertainment.
This is a very broad category. It starts with toy robots such as robo
sapien or the running alarm clock and ends with real heavyweights
such as articulated robot arms used as motion simulators.
Space robots This type would include robots used on the
International Space Station, Can ad arm that was used in Shuttles,
as well as Mars rovers and other robots used in space.
 Hobby and competition robots Most of the hobbyist robots are
mobile and made to operate by rolling around on wheels propelled
by electric motors controlled by an on board microprocessor.
Explorer robots The majority of these robots are completely self-
reliant due to their sensory systems, however they may also be
controlled by humans giving orders through computer commands.
The other types of explorer robots are underground mine exploring
robots, seeing and walking undersea robots, and even bomb
defusing robots used by police.
Laboratory robots Laboratory robotics is the act of using robots in
biology or chemistry labs. For example, pharmaceutical companies
employ robots to move biological or chemical samples around to
synthesize novel chemical entities or to test pharmaceutical value
of existing chemical matter.
Sequence robots A manipulator which progresses successively
through the various stages of an operation according to the
predetermined sequence.
Playback robots The playback robots are capable of performing a
task by teaching the position. These positions are stored in the
memory, and done frequently by the robot. Generally, these
playback robots are employed with a complicated control system. It
can be divided into two important types, namely: Point to Point
control robots Continuous Path control robot

Sketch and explain the four basic robot configurations classified 16 CO1 U
2 according to the coordinate system.
Classification Based on Physical Configuration (or) Co-ordinate
Systems:
• Cartesian configuration
• Cylindrical configuration
• Polar configuration
• Joint-arm configuration
Cartesian Configuration: Robots with Cartesian configurations
consist of links connected by linear joints (L). Gantry robots are
Cartesian robots (LLL)

Cylindrical Configuration: Robots with cylindrical configuration

have one rotary (R) joint at the base and linear (L) joints succeeded
to connect the links.
 The designation of the arm for this configuration can be TRL or
TRR. Robots with the designation TRL are also called spherical
robots. Those with the designation TRR are also called articulated
robots. An articulated robot more closely resembles the human
arm.
Joint-arm Configuration: The jointed-arm is a combination of
cylindrical and articulated configurations. The arm of the robot is
connected to the base with a twisting joint. The links in the arm are
connected by rotary joints. Many commercially available robots
have this configuration

Simple Comparison

3 Write short notes on Joint Notation Scheme. 16 CO1 U

A robot joint is a mechanism that permits relative movement
between parts of a robot arm. The joints of a robot are designed to
enable the robot to move its end effector along a path from one
position to another as desired.
The basic movements required for a desired motion of most
industrial robots are:
1. Rotational movement: This enables the robot to place its
 arm in any direction on a horizontal plane.
2. Radial movement: This enables the robot to move its end-
effector radially to reach distant points.
3. Vertical movement: This enables the robot to take its end-
effector to different heights.
These degrees of freedom, independently or in combination with
others, define the complete motion of the end-effector. These
motions are accomplished by movements of individual joints of the
robot arm. The joint movements are basically the same as relative
motion of adjoining links.
Depending on the nature of this relative motion, the joints are
classified as prismatic or revolute. Prismatic joints are also known
as sliding as well as linear joints. They are called prismatic because
the cross section of the joint is considered as a generalized prism.
They permit links to move in a linear relationship. Revolute joints
permit only angular motion between links. Their variations include:
• Rotational joint (R)
• Twisting joint (T)
• Revolving joint (V)
In a prismatic joint, also known as a sliding or linear joint (L), the
links are generally parallel to one another. In some cases, adjoining
links are perpendicular but one link slides at the end of the other
link. The joint motion is defined by sliding or translational
movements of the links. The orientation of the links remains the
same after the joint movement, but the lengths of the links are
altered. A rotational joint (R) is identified by its motion, rotation
about an axis perpendicular to the adjoining links. Here, the lengths
of adjoining links do not change but the relative position of the links
with respect to one another changes as the rotation takes place.
A twisting joint (T) is also a rotational joint, where the rotation takes
place about an axis that is parallel to both adjoining links. A
revolving joint (V) is another rotational joint, where the rotation
takes place about an axis that is parallel to one of the adjoining
links. Usually, the links are aligned perpendicular to one another at
this kind of joint. The rotation involves revolution of one link about
another.

4 Write short notes on technical specification in Robotics. 16 CO1 U

Accuracy:
How close does the robot get to the desired point? When the
robot's program instruct the robot to move to a specified point, it
does not actually perform as per specified. The accuracy measure
such variance. That is, the distance between the specified position
that a robot is trying to achieve (programming point), and the actual
X, Y and Z resultant position of the robot end effector.
Repeatability:
The ability of a robot to return repeatedly to a given position. It is
the ability of a robotic system or mechanism to repeat the same
motion or achieve the same position. Repeatability is is a measure
of the error or variability when repeatedly reaching for a single
position. Repeatability is often smaller than accuracy.
Degree of Freedom (DOF):
Each joint or axis on the robot introduces a degree of freedom.
Each DOF can be a slider, rotary, or other type of actuator. The
number of DOF that a manipulator possesses thus is the number of
independent ways in which a robot arm can move. Industrial robots
typically have 5 or 6 degrees of freedom. 3 of the degrees of
freedom allow positioning in 3D space (X, Y, Z), while the other 2 or
3 are used for orientation of the end effector (yaw, pitch and roll). 6
degrees of freedom are enough to allow the robot to reach all
positions and orientations in 3D space. 5 DOF requires a restriction
to 2D space, or else it limits orientations. 5 DOF robots are
commonly used for handling tools such as arc welders.
Resolution:
The smallest increment of motion or distance that can be detected
or controlled by the robotic control system. It is a function of
encoder pulses per revolution and drive (e.g. reduction gear) ratio.
And it is dependent on the distance between the tool centre point
and the joint axis.
Envelope:
A three-dimensional shape that defines the boundaries that the
robot manipulator can reach; also Known as reach envelope.
Reach:
The maximum horizontal distance from the centre of the robot base
to the end of its wrist.
Maximum Speed:
A robot moving at full extension with all joints moving
simultaneously in complimentary directions at full speed. The
maximum speed is the theoretical values which does not consider
under loading condition.
Payload:
The maximum payload is the amount of weight carried by the robot
manipulator at reduced speed while maintaining rated precision.
Nominal payload is measured at maximum speed while maintaining
rated precision. These ratings are highly dependent on the size and
shape of the payload due to variation in inertia.
5 Explain the various parts of a robot with neat sketch. 16 CO1 U

Controller:
Every robot is connected to a computer, which keeps the pieces of
the arm working together. This computer is known as the controller.
The controller functions as the "brain" of the robot. The controller
also allows the robot to be networked to other systems, so that it
may work together with other machines, processes, or robots.
Robots today have controllers that are run by programs - sets of
instructions written in code. Almost all robots of today are entirely
preprogrammed by people; they can do only what they are
programmed to do at the time, and nothing else. In the future,
controllers with artificial intelligence, or AI could allow robots to
think on their own, even program themselves. This could make
robots more self-reliant and independent.
Arm:
Robot arms come in all shapes and sizes. The arm is the part of
the robot that positions the end effector and sensors to do their pre-
programmed business. Many (but not all) resemble human arms,
and have shoulders, elbows, wrists, even fingers. This gives the
robot a lot of ways to position itself in its environment. Each joint is
said to give the robot 1 degree of freedom. So, a simple robot arm
with 3 degrees of freedom could move in 3 ways: up and down, left
and right, forward and backward.
Drive:
The drive is the "engine" that drives the links (the sections between
the joints into their desired position. Without a drive, a robot would
just sit there, which is not often helpful. Most drives are powered by
air, water pressure, or electricity.
End-Effector:
The end-effector is the "hand" connected to the robot's arm. It is
often different from a human hand - it could be a tool such as a
gripper, a vacuum pump, tweezers, scalpel, blowtorch - just about
anything that helps it do its job. Some robots can change end-
effectors, and be reprogrammed for a different set of tasks.
 Sensor:
Most robots of today are nearly deaf and blind. Sensors can
provide some limited feedback to the robot so it can do its job.
Compared to the senses and abilities of even the simplest living
things, robots have a very long way to go. The sensor sends
information, in the form of electronic signals back to the controller.
Sensors also give the robot controller information about its
surroundings and lets it know the exact position of the arm, or the
state of the world around it.
6 Explain the main Robot anatomy with neat sketch.

Robot anatomy is concerned with the physical construction and

characteristics of the body, arm, and wrist, which are the CO1
16 U
component of the robot manipulator.
- Base.-fixed are mobile
- The manipulator- arm which several degrees of freedom (DOF).
- The end-effector or gripper- holding a part or tool
- Drives or actuators – Causing the manipulator arm or end
effector to move in a space.
- Controller – with hardware & software support for giving
commands to the drives
- Sensors - To feed back the information for subsequent action of
the arm or grippers as well as to interact with the environment in
which the robot is working.
- Interface – Connecting the robot subsystem to the external world.
Which consist of a number of component that allowed be oriented
in a verity of position movements between the various components
of the body, arm, and wrist are provided by a series of joints. These
joint movements usually involve either rotation or sliding motions.
(Note:*Blooms Level (R – Remember, U – Understand, AP – Apply, AZ – Analyze, E – Evaluate, C – Create)
PART A- Blooms Level : Remember, Understand, Apply
PART B- Blooms Level: Understand, Apply, Analyze, Evaluate(if possible)
Marks: 16 Marks, 8+8 Marks, 10+6 Marks)

Subject In charge Course Coordinator HOD

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