EE2023 – ROBOTICS AND AUTOMATION2 Marks and 16 Marks- Question Bank

UNIT I BASIC CONCEPTSTwo marks

1. Define a Robot? (AU-Nov/Dec-2010)RIA defines a robot as a “programmable, multifunction manipulator

designed to Move materials, parts, tools or special devices through variable programmed motions for the performance of the variety of task”.

2. What is mean by automation?Automation is a technology that is concerned with the use of electronic

mechanical and computer based system in the operation control and production.

3. What is a robot?Robot is an

Electro-mechanical device Perform various task May be human controlled or automated. It finds its uses in all aspects of our life

4. What are the rules of robot? Do not harm being Obey human being Protects itself from harm.

5. Why a robot used?a. To reduce production cost

Fast Accurate Difficulties in human nature

b. To avoid 3-D jobs Dirty Dangerous Difficult

6. What is meant by robot anatomy? Nov/Dec2013-(AU-Nov/Dec-2009)

Robot anatomy means study of structure of robot. Manipulator is constructed of a series of joints & links. A joint provides relative motion

between the input link and the output link. Each joint provides the robot with one degree of freedom.

7. Name the commonly used robot configuration system? (AU-Apr/May-2010)The commonly used robot configuration systems are

Cartesian coordinate system Cylindrical coordinate system Polar or spherical coordinate system Revolute coordinate system

8. What are the types of automation? Fixed automation Programmable automation Flexible automation

9. Write are the Benefits of industrial automation? Improved product quality Improved safety Increased manufacturing flexibility Improved operation reliability Improved decision making

10. List the different types of robots? May/June2012 Robotic Manipulator Wheeled Mobile Robots Legged Robots Underwater Robots Flying Robots Robot Vision Artificial Intelligence Industrial Automation

11. Write Asimov’s laws of robotics? Nov/Dec2013-May/June2012-May/June2013

Three rules written by science fiction author Isaac Asimov and later expanded upon. These rules are built in to almost all positronic robots appearing in his fiction and cannot be bypassed. The rules are introduced in his 1942 short story Runaround although they were foreshadowed in a few earlier stories.The Three Laws of Robotics are as follows:

I. A robot may not injure a human being or, through inaction, allow a human being to come to harm.

II. A robot must obey any orders given to it by human beings, except where such orders would conflict with the First Law.

III. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.

12. What is mean by workspace? (AU-Nov/Dec-2010)The space in which the end point of the robot arm is capable of

operating is called as a workspace in other words reachabillity of robot arm is known as workspace.

13. What is mean by work volume? (AU-Nov/Dec-2008)The volume of the space swept by the robot arm is called work volume

14. What is meant by work envelop? (AU-Apr/May-2010)The work envelop is described by the surface of the workspace.

15. What is meant by a accuracy of robot?The robot’s ability to reach a reference point within the robot’s full work volume is

known as accuracy of robot.

16. What is meant by pay load capacity of robot? (AU-Nov/Dec-2010)

The maximum load which can be carried by the manipulator at low or normal speed

17. What is meant by precision of robot?It is the smallest increment of motion for which the robot can be controlled

18. What is repeatability of robot?Repeatability refers to robot’s ability to return to the programmed point when it is

commanded to do so.

19. What is meant by quality of robot?A robot is said to be high quality when the precision and accuracy is more

20. Classify the motion control of Robot arm? Limited sequence control Point to point control Continuous path control

Intelligent control

21. What are the Subsystems of industrial robot? Actuators Transmission systems Power supplies & power storage system Sensors Microprocessors & controllers Algorithms & softwares (higher level & lower level)

22. What is meant Degrees Of Freedom? Nov/Dec 2012 It is described as one of the variables required to define the motion of a body in

space. Each joint in a robotic system gives the robot one degree of freedom.

23. How much encoder need for measure 45 degree of freedom?

45 encoders

24. What are the Advantages and disadvantages of robot?Advantages

Greater flexibility, reprogrammability, adjustable kinematics dexterity

Greater response time to inputs than humans Improved product quality Maximize capital intensive equipment in multiple work shifts.

Disadvantages Replacement of human labour More unemployment Significant retraining costs for both unemployed and users of

new technology Advertising technology does not always disclose some of the

hidden disadvantages

25. What are the limitations of robot?Assembly dexterity does not match that of human beings, particularly where eye-

hand coordination required. Payload to robot weight ratio is poor, often less than 5% Robot structural configurations often constrain joint limits and

thus the work volume

Work volume can be constrained even further when parts of substantial size are picked up when tooling/sensors added to the robot

The robot repeatability and/or accuracy can constrain the range of potential application

26. Write about the origin of Robot Nov/Dec 2012In 1495, Leonardo da Vinci drew up plans for a mechanical man, and the Byzantine Emperor, suggested the poet W.B. Yeats, possessed a tree in whose golden branches artificial birds were rumored to sing . Only in this century did the word robot see its advent. Its etymology can be traced to the Czech robota, meaning drudgery or slave labor, first used to describe artificial workers in the 1920’s play, Rossum’s Universal Robots, by Karel Capek [3]. Created to help humans, the robots eventually take over the world. Another early rendition of robots was Fritz Lang’s Weimar film, Metropolis.A similar theme emerges in Isaac Asimov’s I, Robot, a series of short stories exploring the possibilities of robot consciousness and their interactions with humans. Surprisingly forward-seeing for 1950, the book ends with the eerie sense that the giant electronic brains the robots eventually construct are somehow extrapolating and channeling human destiny 

27. Name the important specifications of an industrial robot. (AU-Nov/Dec-2012) Accuracy Repeatability Degree of Freedom Resolution Envelope

28. Define base and tool Coordinate system. (AU-Nov/Dec-2012)A tool coordinates definition system capable of easily obtaining a

transformation matrix fordefining a tool coordinates system of a robot. The tool coordinates system at the 0° position of therobot is rotated around each axis so that the tool coordinates system becomes parallel to a basecoordinates system.

29. Define an Industrial Robot. (AU-Nov/Dec-2010)An industrial robot is an automatically controlled, reprogrammable, multipurpose manipulator programmable in 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.

30. What are the three degrees of freedom associated with the arm and body motion?

Right (or) left movement (X-axis motion) (AU-Nov/Dec-2009) In and out movement (Y-axis motion) Vertical movement (Z-axis motion)

31. Differentiate between Kinematics and Dynamics May/June2013

32. What is meant by pitch, yaw and roll? (AU-Nov/Dec-2008)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 axis. Pitch is up and down movement about an axis and roll is rotatory motion about an axis.

33. Explain the types of rotary joint notations (AU-Nov/Dec-2008) Rotational joint (type R) Twisting joint (type T) Revolving joint (type V) Translational

Unit 1Sixteen marks

1 a) Define a robot. With help of sketch describe pitch, yaw and roll motion of a robot wrist. Nov/Dec 2013

b) Discuss the origin and various generations of robots. Sketch and explain the work

envelope of a cylindrical robot. Nov/Dec 2013

2. a) Define the terms accuracy and cycle time in relation to a robot. Sketch and explain the joints and degree of freedom of a jointed arm robot.

b) Differentiate between open loop and closed loop servo systems. With the aid of diagrams explain the working principle of directional control and flow control valve.

3. a) Compare the various attributes of robot with those of human being. Explain a robot structure with a sketch.

b) What are the various types of joints used in robots? Sketch the following robots indicating the joints and degree of freedom.i) SCARA robot. ii) Gantry robot.

4. a) How do you specify a robot? Is robotics automation? Discuss the different classification systems of robots. APR/MAY 2013 b) Discuss the differences between servo controlled and non-servo

controlled robots. Sketch and explain the servo control system for point to point positioning.

5. a) Define a robot. Is robotics an automation? Discuss the various types of joints used in robots. APR/MAY 2011 b) Discuss the various generations of robots. Sketch and explain the

typical configuration and degrees of freedom of wrist assembly. APR/MAY 2013 APR/MAY 2011 APR/MAY 2012

6. a) What is the work envelope of a robot, Sketch and explain two views to indicate the work envelope of a APR/MAY 2012i) Cartesian robot. ii) Polar robot.

b) Explain the concept of accuracy and repeatability of a robot. What are the different configurations of robots? Which of these configurations would be most suitable for?i) Placing an object in an oven for heat-treatment.ii) Painting a motor car body.

7. a) 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? APR/MAY 2011

b) What is the work envelope of a robot sketch and explain two views to indicate the work envelope of a APR/MAY 2011

i) Cylindrical robot. ii) Anthropomorphic robot.8. a) What are the basic components of a robotic system? Explain the

functions of each of the components with a neat sketch. b) State the laws of robotics and discuss the various mechanical

design considerations of robots. APR/MAY 20119. Write short notes on any about the following Nov/Dec 2013/2012 APR/MAY 2012 a) Dynamic stabilization of robots

b) Asimov’s laws of robotics.c) Degrees of freedom.

10. Sketch and explain the four basic robot configurations classified according to the coordinate system. (AU-Nov/Dec-2009; 2010)

UNIT II POWER SOURCES AND SENSORSTwo marks

1. Name the important parts of harmonic drive?The important parts of harmonic drive are

Rigid circular spline with internal teeth Flex spline with external teeth Elliptical wave generation

2. State the advantages and limitation of a hydraulic drive? Nov/Dec-2013Advantages:

It gives greater speed and strength It gives highest power to weight ratio It is used for heavy pay loads It can be used for large working envelope It is safe and reliable to work in wet and dirty conditions It can be used in hazardous environment.

Disadvantages It occupies more space Maintenance should be done regularly

3. What are the types of hydraulic actuator?The types of hydraulic actuators are

Linear hydraulic actuatorI. Single acting cylinder

II. Double acting cylinderIII. Double acting double rod cylinder

Hydraulic rotary actuatorI. Gear motor

II. Vane motorIII. Piston motor

4. What are the types of encoder?I. Linear encoder

II. Rotary encoder Absolute encoder Incremental encoder

5. What is frame grabber?It is hardware device used to capture and store the digital image.

6. What is the common imaging device used for robot vision system?

Block and White vidicon camera, charge coupled devices, solid state camera, charge injection device.

7. What is pixel?Picture elements are also known as pixels.

8. What is the frame of the vision data?The digital image of the camera is called frame of the vision data

9. What is segmentation?Segmentation is the method to group area of an image having similar

characteristics or features into distinct entities representing part of the image.

10. What is thresholding?Thresholding is a binary conversion technique in which each pixel is

converted into a binary value either black or white.

11. What is region growing?

Region growing is collection of segmentation techniques in which pixels are grouped in regions called grid elements based on attribute similarities

12. What are the functions of machine vision system? Sensing and digitizing image data Image processing and analysis Application

13. What is application of machine vision system? Inspection Identification Visual servoing and navigation

14. What is sensor?NOV/DEC2013A sensor is an electrical device that transfers a physical phenomenon

into an electrical signal. Sensors in robotics are used for both the internal feedback control and external interaction with the outside environment

15. What is transducer?Transducer is a device which converts the one form of the energy into

another form without changing the information content.

16. What are the basic classifications of sensors? Tactile sensors Proximity sensors Range sensors Voice sensors etc

17. What are the desirable features of sensors? Nov/Dec-20131. Good Accuracy, 2. High Precision, 3. Wide operating range, 4. Instant

speed of response, 5. Good Repealibility, 6. Low cost, and easy in operation

18. What is the tactile sensor? May/june2013 Nov/Dec-2013Tactile sensor is a device which indicates the contact between

themselves and some other solid objects.

19. List the different type of tactile sensor? Digital(Touch) sensor Analogue (force) sensor

20. What is touch sensor?Sensor which senses the presence or absence of the object by having

physical contact between the object

21. List the component of the force wrist? Metallic frame

Bracket for tool mounting Strain gauges

22. What is a tactile array sensor?Tactile array sensor is a special type of force sensor composed of a

matrix of force sensing elements.

23. What is the proximity sensor?Sensor which senses the presence or absence of the object without

having physical contact between the object

24. What are the classifications of a proximity sensor? Inductive sensor Capacitive sensor Ultrasonic sensor Magnetic sensor

25. What is a range sensor?Sensor which sense the range of the object

26. What is a voice sensor?It is advanced sensor system used to communicate commands or

information orally to robot.

27. What is a vision sensor?It is a advanced sensor system used in conjunction with pattern

reorganization and other technique to view and interpret event occurring in the robot work space.

28. What is potentiometer?Potentiometer is an electrical meter to measure the unknown voltage.

29. What is inspection?It is quality control operation in which the checking of part assembly or

products for conformance to certain criteria is specifying by the design engineering department.

30. What is meant by quantisation?Each sampled discrete time voltage level is assigned to a finite no of

amplitude levels. These amplitude levels correspond to gray scale used in the system. The predefined amplitude levels are characteristic to a particular A to D converter and consist of discrete values of voltage levels is defined by

Number of quantisation levels = 2 power nWhere n is the no of bits of the A/D converter

31. What is meant by encoding?Encoding is defined as the representation of an amplitude level by

a binary digit sequence.32. What is meant by sampling?

The given analog signal is sampled periodically to obtained a series of discrete signals.

33. What is the function of Gearing in a Robot?Nov/Dec2012

To vary the speed of manipulator motion driven by actuating systems

34. What are the advantages of fiber optics? Nov/Dec2012 Speed of transmitting data will be high Loss of data is reduced

35. Compare Hydraulic and Puematic drives May/june2012

36. What is gear ratio May/june2013Ratio of No of teeth driven gear by no of teeth driving gear

37. Classified different types of stepper motor? Variable reluctance motors ( soft steel rotor) Permanent Magnet (PM) stepper motor Hybrid Stepper Motor

Unit 2Sixteen marks

1. a) What are the merits and demerits of moving coil dc motors. Sketch and explain the working of stepper motors. Nov/Dec-2013

b) What is pattern recognition? Describe a sensing device to generate the contour picture of a work piece.

2. a) What is robot vision? Describe a vision sensor used to take the image of an object. MAY/JUNE 2013

b) Discuss response, accuracy and sensitivity in relation to robot sensors. Explain the working of proximity and range sensors. MAY/JUNE 2013

3. a) Distinguish between shunt wound motor and series wound motor. Sketch and explain the principle of operation of stepper motor.

b) Distinguish between tactile and non-tactile sensors. Sketch and explain the working of an acoustic sensor. Nov/Dec-2013

4. a) Compare stepper motor and D.C. motor drives for a robot. Sketch and explain a hydraulic drive system used for robots. Nov/Dec-2013

b) A stepper motor is used to drive a linear axis of a robot. The motor is connected to a screwed shaft having a single start thread of pitch 2.5 mm. The resolution desired for the controlled motion is 0.5 mm. Determine:

i) Step angles that are required on the motor to obtain the resolution.

ii) Pulse rate required to drive the axis if the velocity is 80 mm/s.5. a) What is pattern recognition? Briefly describe a sensing device to

generate the contour picture of a work piece. MAY/JUNE 2013 b) What are the different types of sensors? Classify them. Sketch and

explain the use of a proximity sensor. MAY/JUNE 2013

6. a) What are the advantages of hydraulic actuator systems over electrical motors? Sketch and explain a pneumatic power drive used for robots. Nov/Dec-2013

b) What are the functions of sensors? How do you sense the positional accuracy of a robot? Describe the suitable type of sensor used to measure the position.

7. Write short notes on any about the following Nov/Dec-2013 MAY/JUNE 2013

a) Hydraulic drives.b) Machine Vision.c) Tractile sensors.

UNIT III MANIPULATORS, ACTUATORS AND GRIPPERSTwo marks

1. Define End effector: May/June2012.End effector is a device that is attached to the end of the wrist arm to perform specific task.

2. What is meant by manipulator? Nov/Dec2013,May/June2013Manipulator is a machine has a function similar to those of the human upper limbs and moves an object spatially from one location to another.

3. Compare Electronic and pneumatic manipulator Nov/Dec2012ELECTRONIC PNEUMATIC

High precision Low precisionSpeed of response is quick Slow responseCompact in size Huge size hence space occupied is

largeLow cost less maintenance Maintenance is required often

4. What is Repeatabilty May/June2012It is the ability of a robot to achieve the target point after the process completes for cyclic process

5. Sketch and name the parts of manipulator Nov/Dec2012

6. Give some example of robot End effector: Gripper Tools Welding equipment’s

End of arm tooling(EOAT)

7. What is meant by gripper?Gripper is a End effector which can hold or grasp the object

8. What are the types of gripper? Magnetic gripper Mechanical gripper Hooking gripper Vacuum gripper

9. What is a stripping device?A device used to remove workspace from the magnetic gripper

10. What are the types of mechanism gripper? Linkage actuation gripper Gear and rack actuation gripper Cam actuation gripper Screw actuation gripper

11. What are the advantages and disadvantages of magnetic gripper? Nov/Dec2013Advantages

Pickup time very fast Variation in part size can be tolerated. The gripper do not have to

be designed for one particular work part They have ability to handle metal parts with holes They require only one surface for gripping

Disadvantages Residual magnetism Side slippage More than one sheet will be lifted by magnet from a stack

12. Write different types of magnetic gripper?There are two of magnetic gripper

Electromagnetic gripper Permanent magnet gripper

13. What is Adhesive gripper?Adhesive gripper in which an adhesive substance performs the grasping

action for handling fabrics and other lightweight material are called adhesive gripper

14. Limitation of Adhesive gripper? Adhesive substance losses his tackiness on repeated usage

Reliability is diminished with successive operations

15. List the advantages and features of suction cup gripper? Require only one surface of the part for grasping Applies uniform pressure distribution on the surface of the part Relatively a lightweight gripper Applicable to a variety of different material.

16. Give some examples of tool as robot End effector Shop welding tools Arc welding tools Spray painting nozzle Water jet cutting tool

17. What is transfer function?The transfer function relates the Laplace transformation of the system

output to the Laplace transformation of the system input.

18. What is controller?Controller is information processing device whose input are both

desired and measurement position, velocity (or) other pertinent variables in a process and whose outputs are drive signals to a motor (or) actuators.

19. Write control techniques of robot?All industrial robots are either servo or non-servo controlled

Non servo (open loop) control Servo (closed loop) control

20. What is actuator? They convert the electrical energy into meaningful mechanical

work Mechanical output can be rotational or linear Motor provide motion Electromagnets provide linear motion

21. What is summing junctionSumming junctions may have any number of arrows entering but only one leaving

22. What is a take point?Take of point permit signals and variables to be shared among

more than a single component

23. What is a functional block?Function block represents one of the components of the system and

contains the transfer function for the component.

24. What is a single arrow?Single arrow indicates the direction of variables and signals in the diagram.

25. Name some feedback device used in Robotics? Potentiometer Resolver Encoder

26. List the various actuating mechanism used in mechanical gripper?

Linkage actuation gripper Gear and rack actuation gripper Cam actuation gripper Screw actuation gripper

27. Which type of robot is commonly used for pick and place operation?

Cylindrical coordinate robot is commonly used for pick and place operation

28. What do you meant by material transfer application?Material transfer application are defined as operation in which the

primary objective is move a part from one location to another location

29. What is pick and place operation?Pick and place operation involved tasks in which the robot picks the

part at one location and move it another location

30. What is meant by PID control?The PID controller produces an output signal consisting of three terms-

one proportional to error signal, another one proportional to integral of error signal and the third one proportional to derivative of error signal.

Unit 3Sixteen marks

1. a) What are the different types of actuators used for robots? Explain the working of a hydraulic actuator system.

b) Classify the robot end-effector from the view point of control. Sketch and explain a cam actuated gripper used for robots.

2. a) How is a robot end-effector specified? Discuss the design considerations in the robot end-of-the-arm tooling.

3. b) What is the function of a manipulator? Discuss the working of a robotic manipulator arm with a sketch. MAY/JUNE 2011

4. a) Discuss the advantages and disadvantages of different types of actuators. Explain the working of hydraulic actuator system.NOV/DEC 2011

b) Discuss the functions of gripper with the help of a sketch. Explain the working of magnet grippers used for robots.

5. a) Compare and contrast the end-effectors from the view-point of their functions. Sketch and explain a gripper based on slider crank mechanism.

6. b) Discuss the functions of manipulators. Sketch and explain a pneumatic manipulator control circuits used for robots. MAY/JUNE 2011

7. a) Distinguish between two-point and three-point centering of robot gripper. Explain any two types of grippers used for robots.b) What is the function of a manipulator? Sketch and explain a robotic manipulator arm.

8. Write short notes on any about the following MAY/JUNE 2011/2012a) Magnetic grippers.b) Vaccum Grippers.

9. Explain the Machine vision systems of Robot. (AU-Nov/Dec-2009)

UNIT IV KINEMATICS AND PATH PLANNINGTwo marks

1. What is kinematics? Nov/Dec2013Kinematics will enable us to calculate what each joint variable must be

if we desire the hand to be located at a particular point and have a particular orientation.

2. Define statics.Statics deals with force which acts on the various parts which are

assumed to be rest.

3. What is link?

A link may be defined as a member (or) a combination of member of mechanism connecting other members and having motion to them.

Link of machine may transfer both power and motion

4. What is forward kinematics?MAY/JUNE 2013It is a scheme to determine joint angle by robot knowing its position in

the world coordinate system

5. What is reverse kinematics? May/June2013It is a scheme to determine the position of the robot in the world

coordinate system by knowing the joint angles and the link parameter of the robot.

6. Define manipulator kinematics.Manipulator kinematics is connected with the position and orindation of

the robot’s end of arm or end effector attached to it as a function of time but without regard for the effects of force (or) mass.

7. Write about transformation. Transformation of frames introduced to make modelling the

relocation of object easier. An object is described with respect to a frame located in the

object, and this frame is reloaded with transformation.

8. Explain kinematic model. Before a robot can move its hand to an object must be located

relative to it. There is currently no simple method for measuring the location of the robot hand.

Most robot calculated the position of their hand using kinematic model of their arm.

9. Write steps to drive kinematics model?1) Assign D-H coordination frame2) Find link parameter3) Transformation matrices of adjacent joints4) Calculate kinematic matrix5) When necessary, Euler angle representation

10. Give a method to salve forward kinematic problems?Denavid-Hartenberg conversion

11. Give a method to salve inverse kinematic problems? Closed form (or) Analytical solutions numerical solutions

12. What is the principle of vacuum cup?

The principle used in vacuum pump and venture

13. What are the methods of robot programming? MAY/JUNE 2011

Lead through methods Texual robot languages Mechanical programming

14. What are ways of accomplishing lead through programming?

Power lead through Manual lead through

15. What is teach pendent?The teach pendant is usually a small handheld control box with

combinations of toggle switches, dials and buttons to regulate the robot’s physical movements and program capabilities.

16. What are the methods of teaching? Joint movement X-Y-Z coordinate motions Tool coordinate motion

17. What are the basic mechanisms of legged robot? Slider Liver

18. What are the benefits that can be obtained with a legged robot?

Better mobility Better stability on the platform Better energy efficiency Smaller impact on the ground

19. What is APAS?Adaptable programmable system was developed by national science

foundation & westing house Electric Corporation. The purpose was to advance the state of the art in automated batch assembly.

20. Write the different type of kinematics analysis of mechanism?

Graphical Position Analysis Method Algebraic Position Analysis of Linkages Complex Algebra Method for Position Analysis

21. When a robot singularity will occurs?

A robot singularity occurs when robot axes are redundant (more axes then necessary to cause the same motion) or when the robot is in certain configurations that require extremely high joint rates to move at some nominal speed in Cartesian space

22. Write the two modes of lead through programming? Teach mode Run mode

23. Write end effector command OPEN CLOSE OPEN I CLOSED I

24. List out basic modes of operation in robot language structure.The three basic modes of operations are

Monitor mode Run mode Edit mode

25. State that robot language element.Nov/Dec2013 Constant, variables Motion command End effector and sensor command Computation and operations.

Unit 4Sixteen marks

1. a) Discuss the different inputs to an inverse kinematics algorithm? Explain the solution of a simple inverse kinematic algorithm.

b) What is homogenous transformation of coordinates? Write the homogenous transformation matrix for translation in 3D.

2. a) What is robot software? Discuss the software elements of robot and different teaching methods of robot. NOV/DEC2013

b) List the advantages and disadvantages of off-line programming? Explain the different robot all layouts. NOV/DEC2013

3. a) What is homogenous transformation of coordinates? Write homogenous transformation matrices for translation followed by rotation.

b) Discuss the various inputs to an inverse kinematics algorithm. Explain the functioning of an inverse kinematic algorithm.

NOV/DEC20134. a) Discuss the relative merits and demerits of different textual robot

languages. Explain the different program instructions. APR/MAY 2011

b) What is robot software and explain common software elements of a robot. Discuss what is motion programming and how it is achieved. APR/MAY 2011

5. a) What is homogenous transformation of coordinates? Write homogenous transformation matrices for rotation in 3D.

b) Determine a T matrix that represents a rotation through an angle about OX axis, followed by a rotation of about the OY axis.

6. a) Write the homogenous transform matrix for a rotation of 90o about the z axis followed by a rotation of -90o about the axis, followed by a translation of ( 3,7,9 )

b) What are the various inputs to an inverse kinematics algorithm? Explain functioning of an inverse kinematic algorithm.

7. a) Explain the geometric based direct kinematic analysis of articulated robot.

b) Distinguish between first generation and second generation robot languages. Discuss the various instructions used in programming NOV/DEC2012

8. Write short notes on any about the following APR/MAY 2011NOV/DEC2012 APR/MAY 2012 NOV/DEC2013a) Hill climbing techniques.b) Jacobian work envelope.

9. Determine the coordinates of end effector point of joint J1,twist by and angle of 50° and the variable link has a length of

500mm.Assume it is a Tl robot and the coordinate system is defined at joint J2(10) NOV/DEC2012

10. Discuss about the hill climbing technique of a Robot(6)11. In an RR robot the origin of the global coordinate system is at J1

has two links of length 800mm.Determine the coordinate of the end-effector point if the joint rotations are 65° at both joints,and determine joint rotations if the end effector is located at(10,20).NOV/DEC2012

12. A RR Robot has two links of length 1m.Assume that the origin of the global coordinate system is at J1.Determine the coordinate of the end effector point if the joint rotations are 45° at both joints,and determine joint rotations if the end effector is located at(5,10) NOV/DEC2012

13.(i) Discuss about the hill climbing technique of a Robot(ii)Discuss about the Jacobian work envelop with example.

14 (i) In an RR robot the origin of the global coordinate system is at J1 has two links of length 800mm.Determine the coordinate of the end-effector point if the joint rotations are 65° at both joints, and determine joint rotations if the end effector is located at(10,20).(ii)Discuss about the Jacobian work envelop with example.

15. (i)Explain Forward and Inverse Kinematics

16. In a TL Robot ,assume that the coordinate system is defined at joints J2.Determine the coordinate of the end-effector point if joint J1 twist by an angle of 60° and the variable link has a length of 1m.Also determine variable link length and angle of twist at J1 if the end effector is located at (0.7071,0.7071) NOV/DEC2012 NOV/DEC2011

17. A RR Robot has two links of length 1m.Assume that the origin of the global coordinate system is at J1.Determine joint rotations if the end effector is located at(1,0) APR/MAY 2011

UNIT V CASE STUDIESTwo marks

1. What is meant by SCARA?SCARA is a robot – This also has a cylindrical work space. RRP main body. Such robots were used to assemble the SONY Walkman

2. What is meant by robot cell May/June 2012A robot cell is a complete system that includes the robot, controller, and other peripherals such as a part positioner and safety environment. Robot cells are sometimes referred to as workcells.

Turnkey cells are fully integrated, pre-configured solutions. They install in minimal time and offer the advantage of proven success.

Custom cells are built to customer specifications and allow for the limitations and challenges often found in an industrial setting.They are ideal for applications a standard workcell would not be able to perform.

3. What are the functions of work cell control May/June 2013It is used to monitor the sequence of robot function for particular task

4. What are the parameters to be considered for selecting a robot Nov/Dec2012Degree of freedomWeight of object to be liftedSpeed of responseType of gripper

5. Name few non manufacturing application of robot May/June 2012 May/June 2013

Space Mission ToysEducational RobotsDomestical appication

6. Write some industrial application of robot? Nov/Dec2012a). Material handling application

Material transfer application Machine loading/unloading application

b). Processing application Welding Painting Assembly Inspection

7. What are the benefits of industrial robot?Industrial robot offers the following benefits

Increase productivity Improve product quality More consistent product quality Reduce scrap and waste Reduce reworking costs Reduce raw goods inventory Direct labour cost saving Saving in overhead cost such as lighting, heating and cooling

8. What is palletizing?

Palletizing is the operation in which the robot picks cartons from conveyor and places them on to a pallet

9. What is depalletizing?Depalletizing operation is the reverse of palletizing operation in which

the robot removes cartons from the pallet and places them on to conveyor or other location

10. What are the different types of material handling operation? Nov/Dec2013

Picking and placing Palletizing and depalletizing Machine loading and unloading Parts feeding , storage and retrival Sorting of the parts from conveyors

11. What are the gantry robots?If the robots are mounted over head they are called gentry robots

12. How the workpieces are fed to the robot by some mechanical feeding device?

The workpieces are fed to the robot by some mechanical feeding device or conveyor in a known location and orientation

13. What is the interpretation of manufacturing system?Manufacturing system is defined as the system which converts the input

into a ` suitable output

14. What are the technologies used in manufacturing system? Computer aided design/computer aided manufacturing FMS CIM AGILE LEAN

15. Define the term “CIM”The term CIM denotes the use of computer pervasive use of computer

system to design the product, plan the product, control the operations and perform the various business related function

16. Write down some elements of CIM?LAN, Database, FEM, QC, CNC, TOOL DESIGN, MARKETING,

COMPUTER AIDED DESIGN, ANALYSIS, ROBOT SCHEDULING

17. What are parts feeding, storage and retrieval process? Parts feeding means feeding the part to the machine

Storage means storing different types of object in the pallet Retrieval is the process of taking the object from the pallet

18. What is pallet?Pallet is a storage area which consists of a number of cells to store

workpiece of different size

19. Differentiate palletizing and depalletizing

Palletizing Depallatizinga. The pickup point is

constanta. The pickup point is different

b. The delivery point is different

b. The delivery point is constant

20. Application of robot in loading and unloading? Die casting Injection moulding Forming, stamping Trimming process

21. What is assembly? The term assembly is defined to mean the fitting of two or more

discrete parts to form a new subassembly

22. Defined part presentation.In order to perform an assembly task the part that is to be assembled

must be presented to robot this is part presentation

23. Explain bowl feeders?Bowl feeders are devices used for feeding and orienting small parts in

automated assembly operations. They are made two main components The bowl

24. The vibrating baseWhat are the types of assembly operation? Parts mating Parts joining

25. Basic configuration of assembly systems? A single workstation assembly A series of work station assembly Combination of both

26. Explain designing for robot assembly. Nov/Dec 2013

Certain assembly tasks are very difficult for the robot to perform than others. If possible this difficulty factor should be consider in the design of product

Another consideration in the design of an assembly is the direction in which the parts are to be added in the assembly operation

Unit 5Sixteen marks

1. a) Enumerate the non-manufacturing areas where robots are expected to be used. Discuss robot application for welding and machine loading. NOV/DEC2013

b) State characteristics of work which promote application of robots. Discuss robot application for assembly and inspection

2. a) What is meant by robot cell? Explain the different robotic cell layouts.

b) What is spot welding? Describe briefly the operations involved in robotic spot welding. What are the advantages of robotic welding over manual welding?

3. Write short notes on any about the followinga) Robot applications in manufacturing.b) Robot cell design.

4. Write short notes on any about the followingNOV/DEC2011a) Robot cell layouts.b) Selection of a robot.

5. Briefly explain the Safety sensors and safety monitoring of Robots in detail (AU-Nov/Dec-2008)

6. Briefly explain AGV & RGV types of robots in detail. (AU-Nov/Dec-2010)7. Briefly explain the Workplace design consideration for safety of Robots in detail

8. Write a critical note on any two method for economic analysis of industrial robots. (AU-Nov/Dec-2010)

9. Explain robot cell design and Discuss about the robot application for space shuttle.APR/MAY2011 NOV/DEC2012 MAY/JUNE2013 NOV/DEC2013

10. Explain the Robot application in manufacturing and non manufacturing process11. Explain machine interface and robot cell design NOV/DEC2012 APR/MAY201212. Explain the selection procedure for Robot MAY/JUNE2013 NOV/DEC201313 Briefly explain the Robot Programming Languages in detail.14. List the commands used in VAL II programming and describe its functions15.(i) Explain Robots In manufacturing Application MAY/JUNE2013 (ii) Explain Robots in Non manufacturing Application

NOV/DEC2013