Part A Questions with answers & Part B Questions

UNIT I BASIC CONCEPTS

TWO 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 2012

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 for
defining a tool coordinates system of a 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.
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

PART B

1. a) Define a robot. With help of sketch describe pitch, yaw and roll motion of a robot
wrist.
b) Discuss the origin and various generations of robots. Sketch and explain the work
envelope of a cylindrical robot.

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.
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.
b) Discuss the various generations of robots. Sketch and explain the typical configuration
and degrees of freedom of wrist assembly.

6. a) What is the work envelope of a robot, Sketch and explain two views to indicate the
work envelope of a
i) 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?
b) What is the work envelope of a robot sketch and explain two views to indicate the
work envelope of a
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.

9. Write short notes on any about the following

a) Dynamic stabilization of robots
b) Asimov’s laws of robotics.
c) Degrees of freedom.

UNIT II POWER SOURCES AND SENSORS

TWO 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-2013
Advantages:
 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 actuator
I. Single acting cylinder
II. Double acting cylinder
III. Double acting double rod cylinder
 Hydraulic rotary actuator
I. Gear motor
II. Vane motor
III. 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?
A 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-2013
1. 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
Tactile 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 n
Where 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 are the basic lighting devices?
 Diffuse surface device
 Condenser projectors
 Flood or spot projectors
 Collimator
 Imagers
34. What are the phases of A/D conversion?
 Sampling
 Quantization
 Encoding
35. What are the various techniques in image processing & analysis?
 Image data reduction
 Segmentation
 Feature extraction
 Object recognition
36. What is meant by image data reduction?
The objective of image data reduction is to reduce the volume of the data
37. What are the schemes involved in image data reduction?
 Digital conversion
  Windowing
38. What is meant by windowing?
Windowing involves using only a portion of the total image stored in the frame
buffer for image processing and analysis this portion is called window.
39. What is by digital conversion?
Digital conversion reduces the no of gray levels used by the machine vision system.
40. What is meant by segmentation?
The object of segmentation is to group areas of an image having similar
characteristics or features into distinct entities representing parts of the image
41. What are the techniques involved in segmentation?
 Thresholding
 Region growing
 Edge detecting
42. What is meant by thersholding?
Thresholding is the binary conversion technique in which each pixel is converted
into a binary value.
43. What is meant by region growing?
Region growing is a collection of segmentation techniques in which each pixels are
grouped in regions called grid elements.
44. What is meant by edge detection?
Edge detection considering the intensity charge that occurs in the pixels at the
boundary or edge of the part
45. What is meant by feature extraction?
Feature extraction is usually accomplished by means of features that uniquely
characterize the object
46. What are the techniques used in object recognition?
 Template matching technique
 Structural technique
47. What is meant by template matching technique?
Template matching techniques are subsets of the motor general statistical pattern
recognition technique
48. What is meant by structural technique?
Structural techniques of pattern recognition consider relationship between the
features or edges of an object.
49. What are the electrical Drives in Manipulators
The term servo derived from phrase “to serve”, has meaning that “the system that can
be controlled.” The electrical actuators that can be controlled are DC servomotors, AC
servo motors and stepper motors
50. What is the function of Gearing in a Robot? Nov/Dec2012
51. What are the advantages of fiber optics? Nov/Dec2012
52. Compare Hydraulic and Puematic drives May/june2012
53. Write down the advantages and limitations of acoustic sensors May/june2012
54. What is gear ratio May/june2013
55. Classified different types of stepper motor?
 Variable reluctance motors ( soft steel rotor)
 Permanent Magnet (PM) stepper motor
 Hybrid Stepper Motor
 PART B

1. a) What are the merits and demerits of moving coil dc motors. Sketch and explain the
working of stepper motors.
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.
b) Discuss response, accuracy and sensitivity in relation to robot sensors. Explain the
working of proximity and range sensors.

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.

4. a) Compare stepper motor and D.C. motor drives for a robot. Sketch and explain a
hydraulic drive system used for robots.
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.
b) What are the different types of sensors? Classify them. Sketch and explain the use of
a proximity sensor.

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

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

UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS

TWO MARKS

1. Define End effector:

 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/June2013
Manipulator 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/Dec2012
4. What is an End effector May/June2012.
5. What is an active Gripper May/June2013
6. What is Repeatabilty May/June2012
7. Sketch and name the parts of manipulator Nov/Dec2012
8. Give some example of robot End effector:
 Gripper
 Tools
 Welding equipment’s
 End of arm tooling(EOAT)
9. What is meant by gripper?
Gripper is a End effector which can hold or grasp the object
10. What are the types of gripper?
 Magnetic gripper
 Mechanical gripper
 Hooking gripper
 Vacuum gripper
11. What is a stripping device?
A device used to remove workspace from the magnetic gripper
12. What are the types of mechanism gripper?
 Linkage actuation gripper
 Gear and rack actuation gripper
 Cam actuation gripper
 Screw actuation gripper
13. What are the advantages and disadvantages of magnetic gripper? Nov/Dec2013
Advantages
 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
14. Write different types of magnetic gripper?
There are two of magnetic gripper
 Electromagnetic gripper
 Permanent magnet gripper
15. 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
16. Limitation of Adhesive gripper?
 Adhesive substance losses his tackiness on repeated usage
 Reliability is diminished with successive operations
17. 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.
18. Give some examples of tool as robot End effector
 Shop welding tools
 Arc welding tools
 Spray painting nozzle
 Water jet cutting tool
19. What is transfer function?
The transfer function relates the Laplace transformation of the system output to the
Laplace transformation of the system input.
20. 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.
21. Write control techniques of robot?
All industrial robots are either servo or non-servo controlled
 Non servo (open loop) control
 Servo (closed loop) control
22. 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
23. What is summing junction
Summing junctions may have any number of arrows entering but only one leaving
24. What is a take point?
Take of point permit signals and variables to be shared among more than a single
component
25. What is a functional block?
Function block represents one of the components of the system and contains the
transfer function for the component.
26. What is a single arrow?
Single arrow indicates the direction of variables and signals in the diagram.
27. Name some feedback device used in Robotics?
 Potentiometer
 Resolver
 Encoder
28. List the various actuating mechanism used in mechanical gripper?
  Linkage actuation gripper
 Gear and rack actuation gripper
 Cam actuation gripper
 Screw actuation gripper
29. Which type of robot is commonly used for pick and place operation?
Cylindrical coordinate robot is commonly used for pick and place operation
30. 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
31. 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

32. 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.

PART B

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.
b) What is the function of a manipulator? Discuss the working of a robotic manipulator
arm with a sketch.

3. a) Discuss the advantages and disadvantages of different types of actuators. Explain the
working of hydraulic actuator system.
b) Discuss the functions of gripper with the help of a sketch. Explain the working of
magnet grippers used for robots.

4. a) Compare and contrast the end-effectors from the view-point of their functions.
Sketch and explain a gripper based on slider crank mechanism.
b) Discuss the functions of manipulators. Sketch and explain a pneumatic manipulator
control circuits used for robots.

5. 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.

6. Write short notes on any about the following

a) Magnetic grippers.
b) Vaccum Grippers.

UNIT IV KINEMATICS AND PATH PLANNING

TWO MARKS
1. What is kinematics? Nov/Dec2013
Kinematics 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?
It is a scheme to determine joint angle by robot knowing its position in the world
coordinate system
5. What is reverse kinematics? May/June2013
It 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 frame
2) Find link parameter
3) Transformation matrices of adjacent joints
4) Calculate kinematic matrix
5) 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?
 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.
PART B

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

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.

4. a) Discuss the relative merits and demerits of different textual robot languages. Explain
the different program instructions.
b) What is robot software and explain common software elements of a robot. Discuss
what is motion programming and how it is achieved.

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 90 o 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
8. Write short notes on any about the following
a) Hill climbing techniques.
b) Jacobian work envelope.

UNIT V CASE STUDIES

TWO MARKS

1. What is meant by SCARA?

2. What is menat by robot cell May/June 2012
3. What are the functions of work cell controller May/June 2013
4. List any four non manufacturing application areas orf robotics May/June 2013
5. What are the different types of material handling operation Nov/Dec2013
6. Name few application of multiple robots Nov/Dec2012
7. What are the parameters to be considered for selecting a robot Nov/Dec2012
8. Name few non manufacturing application of robot May/June 2012
SCARA is a robot – This also has a cylindrical work space. RRP main body. Such
robots were used to assemble the SONY Walkman.
9. Write some industrial application of robot?
a). Material handling application
 Material transfer application
 Machine loading/unloading application
b). Processing application
 Welding
 Painting
 Assembly
 Inspection
10. 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
11. What is palletizing?
Palletizing is the operation in which the robot picks cartons from conveyor and
places them on to a pallet
12. 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
13. What are the different types of material handling operation?
 Picking and placing
 Palletizing and depalletizing
 Machine loading and unloading
 Parts feeding , storage and retrival
 Sorting of the parts from conveyors
14. What are the gantry robots?
If the robots are mounted over head they are called gentry robots
15. 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
16. What is the interpretation of manufacturing system?
Manufacturing system is defined as the system which converts the input into a `
suitable output
17. What are the technologies used in manufacturing system?
 Computer aided design/computer aided manufacturing
  FMS
 CIM
 AGILE
 LEAN
18. 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
19. Write down some elements of CIM?
LAN, Database, FEM, QC, CNC, TOOL DESIGN, MARKETING, COMPUTER
AIDED DESIGN, ANALYSIS, ROBOT SCHEDULING
20. 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
21. What is pallet?
Pallet is a storage area which consists of a number of cells to store workpiece of
different size
22. Differentiate palletizing and depalletizing

Palletizing Depallatizing

a. The pickup point is constant a. The pickup point is

different

b. The delivery point is b. The delivery point is

different constant

23. Application of robot in loading and unloading?

 Die casting
 Injection moulding
 Forming, stamping
 Trimming process
24. What is assembly?
 The term assembly is defined to mean the fitting of two or more discrete
parts to form a new subassembly
25. 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
26. 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
 The vibrating base
27. What are the types of assembly operation?
 Parts mating
 Parts joining
28. Basic configuration of assembly systems?
 A single workstation assembly
 A series of work station assembly
 Combination of both

29. 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

PART B

1. a) Enumerate the non-manufacturing areas where robots are expected to be used.

Discuss robot application for welding and machine loading.
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 following

a) Robot applications in manufacturing.
b) Robot cell design.

4. Write short notes on any about the following

a) Robot cell layouts.
b) Selection of a robot.