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Choose The Correct Answer

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14 views

Choose The Correct Answer

Uploaded by

K. Pavan Kumar Reddy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Roll No_____________ Signature of the staf……………………

JNTUA COLLEGE OF ENGINEERING PULIVENDULA


DEPARTMENT OF MECHANICAL ENGINEERING
IV B.TECH I SEM MECH, II-MID EXAMINATION
AUTOMATION & ROBOTICS
Date: 12-11-2015 Duration: 20 Min Time: 02.30 P.M – 04.30 PM Marks : 10M
Choose the correct answer:
1. Based on finger movement, Mechanical gripper can be classified as __________ [ ]
(a) pivoting movement (b) linear or translational movement (c) a & b (d) none
2. If the orientation changes without the change of position then the transformation is [ ]
(a) Pure translation (b) pure rotation (c) combined transformation (d)none
3. Differential translation can be represented by __________ [ ]
(a) Trans(x,y,x) (b) Trans (dx, dy, dx) (c) a & b (d) none
4. Using ___________kinematic equations, one can calculate where the robot is at any instant If
all the robot joint variables are known [ ]
(a) Inverse (b) forward (c) a & b (d) none
5. The matrix representing the Euler angles orientation change is ___________ [ ]
(a) Rot(a,φ) Rot(o, θ) Rot(a,ψ) (b) )Rot(o,θ)
(c) Rot(0, θ)Rot(a, φ) Rot(o,ψ) (d) none
6. An N-DOF manipulator arm consists of _________ links and _____ joints. [ ]
a) N+1, N+1 b) N+1, N-1 c) N, N+1 d) N+1, N
7. The mapping between joint space and Cartesian space is knows as _________. [ ]
a) Inverse kinematics b) Direct kinematics c) Dynamics d) none
8. A differential representation is a small rotation of the frame. It is generally represented by
___________, which means that the frame has rotated an angle of dϴ about an axis k. [ ]
a) Rot(k,dϴ) b) Rot (k, ϴ) c) Rot (ϴ, k) d) None of the above
9. In robotics, by convention the__________of the coordinate frame is aligned with joint axis.
a) X-axis b) Z-axis c) Y-axis d) None [ ]
10. __________________ sensors are devices which indicate contact between themselves and
some other solid object. [ ]
a) Tactile b) Touch c) Force d) proximity
Fill in the blanks
11. The rotation matrix representing differential rotation about the X-axis is given by
__________________
12. Expand PUMA_____________________________________________________________.
13. A path is defined as a _______________ of robot configurations in a particular order without
regard to the timing of these configurations.
14. The joint parameters are ________________________and ______________________.
15. The perpendicular distance between the zi-1 and zi-axis is called as ____________________.
True or false
16. The power to weight ratio of electric actuation system is average [ ]
17. Hydraulic actuation systems has lowest power ratio [ ]
18. If the rate of rotation of the encoder is low, the velocity measurement may become accurate [ ]
19. Stepper motors are also called as stepping motors [ ]
20. Vacuum cups are also called as injection cups [ ]

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