TEST_1 4. Classify the various types Grippers used in Qn10. Qn4.

1.What do you understand by the term robot? robotics. Briefly explain the type of robot based on Describe in detail as far as 3D printer and CNC
Robots are devices that are programmed to move Repeated in Qn8 Test 1 a. Movement: machines are concerned.
parts, or to do work with a tool i. Stationary robots: These robots do not move from i. How does 3D printing work?
5. Describe the concept of safety in robotics. their original position. 3D printing, also known as additive manufacturing,
2. Briefly explain the six subsystems of industrial a. Risk assessment: Identifying and evaluating ii. Mobile robots: These robots have the ability to move works by creating objects layer by layer from a
robots potential hazards associated with robot operations, around and navigate their environment. digital design file. The typical process involves the
a. Manipulator: The mechanical structure of the considering factors such as speed, force, and the following steps:
robot that includes joints, links, and end effectors. proximity of humans. b. According to the level of technology used: 1. Designing or obtaining a 3D model using
b. Power source: Provides energy to operate the b. Protective measures: Implementing physical i. Industrial robots: These robots are used in industrial computer-aided design (CAD) software.
robot, such as electric motors or hydraulic barriers, safety enclosures, or sensors to prevent settings for tasks like manufacturing and assembly. 2. Slicing the 3D model into thin cross-sectional
systems. human access to hazardous areas during robot ii. Service robots: These robots are designed to interact layers.
c. Actuators: Convert electrical, hydraulic, or operation. with and assist humans in various settings such as 3. Preparing the 3D printer by selecting the
pneumatic energy into mechanical motion for the c. Emergency stop systems: Installing emergency healthcare, hospitality, and personal use. appropriate printing material and loading it into the
robot's movement. stop buttons or switches that can immediately halt iii. Collaborative robots (cobots): Cobots are designed printer.
d. Sensors: Detect and collect information about robot motion in case of an emergency or when a to work safely alongside humans, often in close 4. The printer reads the sliced file and begins the
the robot's environment, including position, force, safety concern arises. collaboration, without the need for physical barriers. printing process.
and vision. d. Safety interlocks: Incorporating sensors and 5. The printer applies the printing material layer by
e. Controller: The brain of the robot that interlocking mechanisms that disable robot motion FINAL_2 layer, following the instructions from the sliced file.
processes sensor data and generates commands when certain conditions are not met, such as when a 6. The material solidifies or hardens depending on
Qn1.
for the actuators. safety gate is open or when a human enters the the printing technology used, creating a three-
i. What are the common types of motion that a robot
f. End effector: The tool or device attached to the robot's workspace. dimensional object.
manipulator can make in travelling from point to
robot's arm or wrist that interacts with the e. Collision detection and avoidance: Equipping
point?
workpiece or environment. robots with sensors, such as proximity sensors or ii. Which materials can be 3D printed?
a. Linear motion: Moving in a straight line from one
vision systems, to detect obstacles or humans in their A wide range of materials can be 3D printed,
point to another.
3. Classify the industrial robots based on path and take appropriate actions to avoid collisions. including:
b. Circular motion: Moving along a circular path.
coordinates system f. Speed and force limitations: Implementing speed a. Thermoplastics: ABS (acrylonitrile butadiene
c. Rotational motion: Rotating around a fixed axis.
a. Cartesian robots: Use a three-linear-axis and force limits for robot movements to prevent styrene), PLA (polylactic acid), PETG (polyethylene
d. Joint motion: Moving the robot arm joints to reach
system to define positions in X, Y, and Z excessive speeds or forces that could cause harm to terephthalate glycol), etc.
the desired position.
coordinates. humans or the environment. b. Metals: Aluminum, titanium, stainless steel,
b. Cylindrical robots: Use a combination of rotary g. Programming safeguards: Ensuring that robot bronze, etc.
ii. What is supervised versus unsupervised learning in
and linear motions to define positions in a programming follows strict safety guidelines, c. Resins: Photopolymer resins for high-detail
robotics artificial intelligency?
cylindrical coordinate system. including error-checking, validation, and verification prints, dental resins, etc.
supervised learning involves training a model using
c. Spherical robots: Use a combination of three of commands to minimize the risk of unintended d. Ceramics: Porcelain, earthenware, clay, etc.
labeled data, where the correct outputs are provided
rotary motions to define positions in a spherical actions. e. Composites: Carbon fiber-reinforced polymers,
to the model during training.
coordinate system. h. Training and education: Providing proper training fiberglass-reinforced polymers, etc.
Unsupervised learning, on the other hand, involves
d. Articulated robots: Use a series of rotary joints to human operators, maintenance personnel, and f. Biomaterials: Biocompatible materials for
training a model on unlabeled data, allowing the
to define positions in a jointed coordinate system. other individuals working with robots to understand medical applications, such as tissue scaffolds or
model to discover patterns and relationships on its
e. SCARA robots: Stands for "Selective Compliance safety protocols, emergency procedures, and prosthetics.
own.
Assembly Robot Arm," they have two parallel potential risks associated with the robotic systems.
rotary joints and can move in X, Y, and Z i. Compliance with standards: Adhering to industry iii. How does a CNC work?
iii. A bank manager is given a data set containing
coordinates. standards and regulations related to robot safety, CNC (Computer Numerical Control) machines are
records of 1000s of applicants who have applied for a
such as ISO 10218 for industrial robots or ANSI/RIA automated tools used for subtractive
loan. Explain how can artificial intelligence help the
4. Describe the industrial application of robots R15.06 for collaborative robots. manufacturing processes. They follow instructions
manager understand which loans he can approve?
a. Manufacturing: Performing tasks such as from a computer program to control the movement
Artificial intelligence can help the bank manager
assembly, welding, painting, and material FINAL_1 understand which loans to approve by analyzing the
of cutting tools and remove material from a
handling. Qn1. workpiece. The working principle involves these
data set and identifying patterns and factors that
b. Automotive: Robotic arms used in car i. What is robot steps:
contribute to loan approval. AI algorithms can learn
assembly, painting, and welding operations. A robot is a programmable machine designed to a. Designing a part or obtaining a CAD model.
from historical data to assess creditworthiness,
c. Electronics: Precise handling of delicate perform tasks autonomously b. Converting the design into a CNC program or G-
analyze financial risk, and predict the likelihood of loan
components, PCB assembly, and circuit testing. or semi-autonomously. code.
repayment based on various applicant attributes and
d. Pharmaceuticals: Packaging, labeling, and c. Loading the program into the CNC machine's
historical loan outcomes.
sorting of drugs and medical devices. ii. Define the following terms used in industrial controller.
e. Food and Beverage: Picking, packing, robotics d. Fixing the workpiece on the machine's
iv. Mention sensors used for location-aware navigation
palletizing, and processing in the food industry. a. Kinematics: Kinematics is the study of robot worktable.
systems and describe their working principle.
f. Logistics and Warehousing: Automated motion without considering forces or torques. e. The machine moves the cutting tool based on the
a. Global Positioning System (GPS): Receives signals
sorting, stacking, and order fulfillment in b. End effector: The end effector refers to the tool or G-code instructions, which specify coordinates,
from satellites to determine the robot's position on
warehouses. gripper attached to a robot's arm for interacting with feed rates, and cutting paths.
Earth.
g. Healthcare: Surgical robots for minimally the workpiece. f. The cutting tool removes material from the
b. Inertial Measurement Unit (IMU): Combines
invasive procedures and rehabilitation robotics. c. Robot Joints: Robot joints are movable workpiece, shaping it according to the design.
accelerometer and gyroscope data to measure the
h. Aerospace: Assembly, inspection, and connections between robot links that enable robot's acceleration, orientation, and direction of
maintenance in the aerospace industry. articulation and configuration changes. iv. What is G code?
movement.
i. Agriculture: Harvesting crops, planting, and d. Manipulator: The manipulator refers to the robot G-code is a programming language used to control
precision spraying. arm or mechanism responsible for performing CNC machines. It consists of a series of commands
v. Explain briefly any two wireless network
j. Construction: Robotic arms for bricklaying, physical tasks. that define tool movements, feed rates, spindle
technologies used in intelligent systems.
concrete spraying, and 3D printing of structures. speed, tool changes, and other machining
a. Wi-Fi (Wireless Fidelity): Provides high-speed
iii. Explain technical features of an industrial robot operations. Each G-code command is represented
wireless connectivity over short distances, commonly
5. Discuss in detailed drive system used in robots a. Degree of freedom: The degree of freedom of an by a letter followed by a numerical value. For
used for local area networking.
a. Electric drive: Utilizes electric motors and servo industrial robot is the number of independent example, G01 specifies linear interpolation for
b. Bluetooth: Enables wireless communication
systems to provide precise and controlled motions it can perform. straight-line movements, G02 represents a
between devices over short distances, commonly used
movement. It is commonly used due to its b. Work volume/work space: The work volume or clockwise arc, G03 represents a counterclockwise
for connecting peripherals and IoT devices.
accuracy, speed control, and ease of integration. work space of a robot is the region in which it can arc, and so on.
b. Hydraulic drive: Utilizes hydraulic actuators reach and operate. vi. A robot with a single degree of freedom has one
powered by fluid pressure to generate high forces c. Payload: The payload of a robot refers to the v. What materials can be cut on a CNC machine?
sliding joint with full range of 4.0m. The robots control
and handle heavy loads. Hydraulic drive systems maximum weight or load it can carry or manipulate. CNC machines are versatile and can cut various
memory has 8-bit storage capacity. Determine the
are known for their strength, but they require d. Accuracy: Accuracy in robotics refers to the ability materials, including:
control resolution for this axis of motion.
complex hydraulic systems and may have slower of a robot to achieve precise positioning and perform 1. Metals: Steel, aluminum, brass, copper, etc.
Control resolution for the given robot: With a full range
response times. tasks with minimal deviation. 2. Wood: Hardwood, softwood, plywood, MDF
of 4.0m and 8-bit storage capacity, the control
c. Pneumatic drive: Utilizes pneumatic actuators (medium-density fiberboard), etc.
resolution can be calculated by dividing the range by
powered by compressed air to generate linear or Qn2. 3. Plastics: Acrylic, PVC, polycarbonate, nylon, etc.
the number of available control steps: 4.0m / (2^8) =
rotary motion. Pneumatic systems are suitable for i. Explain the major elements of an industrial robot 4.Composites:Fiberglass, carbon fiber composites,
0.015625m or approximately 1.56mm.
lightweight applications that require high-speed The major elements of an industrial robot include the etc.
movements. manipulator (arm), controller, sensors, end effector 5. Foam: Polyurethane foam, polystyrene foam,
vii. Study Figure 1 carefully and explain what a
d. Hybrid drive: Combines multiple drive systems, (gripper), power source, and communication etc.
program will do following the flowchart.
such as electric and hydraulic, to leverage the interface. 6. Stone: Granite, marble, limestone, etc.
advantages of each. For example, electric drive for viii. Convert the flowchart of Figure 1 into a program
precise positioning and hydraulic drive for heavy Qn7. We need to design a wireless operated war
using a suitable programming language.
lifting. field land rover that alerts on sensing on planted
land mines. It should be equipped with suitable
detectors and be able to send a short service
message alert to the control station upon detection
of land mines. Suggest sensors and give a complete
layout of the system design.
6. Differentiate btn sensor and transducers ii. Mention the types of grippers ix. Describe various artificial intelligent techniques to 5. If the parameters are within the safe range:
a. Sensor: Converts a physical quantity, such as - Mechanical grippers - Vacuum grippers predict missing measurement data coming in from a. Check if any preset control parameters need
temperature or pressure, into an electrical signal - Magnetic grippers - Pneumatic grippers sensors or smart metres. adjustment.
or another measurable form. - Hydraulic grippers a. Interpolation: Estimating missing data points based b. If adjustment is required, automatically control
b. Transducer: Converts energy from one form to on the surrounding available data points. the water pump based on the predefined setpoints.
another. It can act as both a sensor, by detecting Qn3. b. Regression: Building a mathematical model based Repeat the process periodically or based on a time
physical quantities, and an actuator, by i. Explain the difference between the on existing data to predict missing values. interval.
converting electrical signals into physical actions. electromagnetic and permanent magnets grippers c. Kalman filtering: A recursive algorithm that
Electromagnetic grippers use an electric current to estimates the state of a system based on a series of Qn5:
7. Differentiate between forward and inverse generate a temporary magnetic field, while measurements, even with incomplete or noisy data. i. Deliberative robot control architecture:
kinematics of robots Permanent magnet grippers use a constant Deliberative robot control architecture involves a
a. Forward kinematics: Calculates the position magnetic field from a permanent magnet. x. Describe basic functions of expert systems. planning and decision-making process. It typically
and orientation of the robot's end effector in a. Knowledge representation: Storing and organizing includes the following components:
relation to the robot's base using the known joint ii. What is magnetic gripper domain-specific knowledge and rules. a. Perception: Gathering information about the
angles or coordinates. A magnetic gripper is an end effector that uses b. Inference engine: Reasoning over the knowledge robot's environment using sensors.
b. Inverse kinematics: Determines the joint magnetic forces to hold and manipulate base to draw conclusions or make recommendations. b. World Model: Constructing a representation of
angles or coordinates required to position the ferromagnetic objects. c. User interface: Allowing interaction between the the environment based on the gathered
robot's end effector at a desired location and user and the expert system to input queries and information.
orientation. It involves solving mathematical iii. Explain the difference between the pneumatic receive advice or solutions. c. Planning: Generating a sequence of actions or a
equations to find the joint values that achieve the gripper and hydraulic gripper d. Explanation system: Providing explanations for the plan to achieve a specific goal.
desired pose. A pneumatic gripper uses compressed air for system's reasoning or recommendations to enhance d. Execution: Carrying out the planned actions to
gripping, whereas a hydraulic gripper uses hydraulic user understanding. accomplish the goal.
8. Classify the robot grippers and there uses fluid for gripping. Example: A robot tasked with navigating through a
a. Mechanical grippers: Use mechanical fingers or Qn2. maze will use its sensors to perceive the maze,
jaws to grasp objects and apply gripping force. Qn4. We need to design an intelligent prepaid water construct a map of the maze, plan the optimal path
They are commonly used in industrial applications i. Explain the importance of machine vision system meter system with anti-tampering mechanism. The to the destination, and execute the planned actions
for general-purpose gripping. in robots data from all sensors will be transmitted using to reach the goal.
b. Vacuum grippers: Utilize suction cups or A machine vision system is important in robots as it wireless protocol from the sensor node to the
vacuum pads to create a vacuum seal and hold allows them to "see" and interpret their control station. ii. Behavior-based robot control architecture:
objects with suction. They are suitable for environment. It enables object detection, i. Suggest suitable sensors and actuators Behavior-based robot control architecture
handling flat or nonporous objects. positioning, quality control, and flexible Sensors: emphasizes the integration of reactive behaviors. It
c. Magnetic grippers: Use magnets to hold and automation. 1. Flow Sensor: Measures the amount of water typically includes the following components:
manipulate ferromagnetic objects. They are flowing through the system. a. Sensing: Gathering real-time information about
useful for applications where gripping force is not ii. Differentiate between the sensor and transducer 2. Pressure Sensor: Monitors the water pressure the robot's immediate environment using sensors.
critical. A sensor detects and responds to physical stimuli, within the system. b. Behaviors: Designing specific behaviors to
d. Hydraulic and pneumatic grippers: Operate while a transducer converts one form of energy into 3. Temperature Sensor: Measures the temperature respond directly to the perceived environment.
using hydraulic or pneumatic power to open and another. of the water. c. Arbitration: Resolving conflicts and coordinating
close the gripper jaws. They are capable of 4. Water Level Sensor: Detects the water level in the the execution of different behaviors.
applying high gripping forces and are commonly iii. Write down the two basic types of robot tank or reservoir. d. Adaptation: Modifying behaviors based on
used in heavy-duty applications. programming 5. Leak Detection Sensor: Identifies any leaks or changing environmental conditions.
e. Soft grippers: Made of flexible materials that a. Offline programming abnormal water flow. Example: A robot designed to follow a line on the
conform to the shape of objects. They are ideal for b. Teach pendant programming Actuators: ground will have behaviors for line detection, line
handling delicate or irregularly shaped objects. 1. Solenoid Valve: Controls the flow of water, following, obstacle avoidance, and speed control.
f. Adhesive grippers: Use adhesive properties or Qn5. allowing it to be opened or closed remotely. The robot will continuously sense the line and
suction cups with adhesive surfaces to grip Describe subsystem of industrial robot 2. Display Unit: Shows the water usage, balance, and obstacles, activate the appropriate behaviors, and
objects. The subsystems of an industrial robot include the other relevant information to the user. adapt its movements based on the detected
g. Parallel grippers: Have two opposing jaws that manipulator, controller, power supply, sensors, end 3. Alarm/Buzzer: Provides audible alerts for conditions.
move in parallel to grip objects. effector, communication interface, safety system, tampering or abnormal conditions.
h. Angular grippers: Have jaws that move in an and peripheral devices. 4. Communication Module: Facilitates wireless Qn. 6
angular motion to grip objects. communication between the sensor node and control Describe in detail behaviour-based design for
i. Three-finger grippers: Have three fingers that station.
Qn6. robot searching for pucks when it finds one,
can adjust to different object shapes.
Classify the robots according to coordinates of pushes it to vicinity of the light source, goes to
j. Anthropomorphic grippers: Designed to mimic ii. Draw the block diagram of the system
motion find another and avoids or escapes from
the human hand and offer dexterity and +----------------------------------+
i. Cartesian ii. Cylindrical iii. Spherical encounters with other objects.
versatility in gripping. | Sensor Node |
iv. SCARA v. Articulated 1. Searching Behavior: The robot is programmed
+----------------------------------+ with a searching behavior that allows it to explore
TEST_2 | Flow Sensor | Pressure Sensor | its environment and locate pucks.
Qn7.
1. Briefly explain the ten application of robots | Temperature Sensor | Level Sensor | 2. Puck Detection Behavior: Once the robot detects
Discuss the types of drive system with their
Repeated in Qn4 Test 1 | Leak Detection Sensor | a puck using its sensors, it triggers a puck detection
examples
a. Electric drive (e.g., AC/DC motors) +------------------+---------------+ behavior. This behavior enables the robot to
2. Describe the ten benefit of industrial robots b. Hydraulic drive (e.g., hydraulic cylinders) | | determine the location and orientation of the puck
a. Increased productivity: Robots can work at a c. Pneumatic drive (e.g., compressed air) | Communication Module (Wireless) accurately.
faster pace and perform repetitive tasks without | | 3. Pushing Behavior: After the puck is detected, the
fatigue. +------------------+---------------+ robot engages in a pushing behavior. This behavior
Qn8.
b. Improved precision: Robots can achieve high | Control Station | involves approaching the puck, aligning with it, and
i. Briefly explain the ten application of robots
levels of accuracy and consistency in tasks. +------------------+---------------+ applying appropriate forces or actions to push the
Repeated in Qn4 Test 1
c. Enhanced safety: Robots can handle hazardous | Solenoid Valve | Display Unit | puck towards the vicinity of the light source.
manufacturing, assembly, welding, material
or dangerous tasks, reducing the risk to human | Alarm/Buzzer | | 4. Light Source Guidance Behavior: The robot also
handling, painting, inspection, packaging, logistics,
workers. +----------------------------------+ needs a behavior that guides it towards the light
healthcare, and agriculture.
d. Higher quality output: Robots minimize human Qn3. source. This behavior uses sensors (e.g., light
errors, leading to improved product quality. We need to design an intelligent control system to sensors or cameras) to detect the location or
ii. Describe the ten benefit of industrial robots
e. Cost savings: Robots can reduce labor costs and monitor and control water treatment plant. The intensity of the light source.
Repeated in Qn2 Test 2
increase efficiency in production processes. parameters to be monitored using various sensors 5. Obstacle Avoidance/Escape Behavior:
increased productivity, improved quality, enhanced
f. Flexibility: Robots can be programmed to include pH, turbidity and temperature. The system To avoid encounters with other objects or obstacles
safety, reduced labor costs, increased flexibility,
perform multiple tasks and adapt to different should control water pump that can work in the environment, the robot incorporates an
faster cycle times, higher accuracy, consistent
product variations. automatically by pre-set some of the parameters. And obstacle avoidance or escape behavior. This
performance, better utilization of space, and the
g. Increased production capacity: Robots can when various pre-set parameters will be out of range behavior uses sensors (e.g., proximity sensors or
ability to work in hazardous environments.
work around the clock, leading to higher the alarm will be triggered. depth sensors) to detect obstacles or potential
production rates. i. Draw the block diagram of the system collisions.
h. Reduced cycle time: Robots can perform tasks
Qn9.
Illustrate the forward and inverse kinematics of 6. Reactive and Adaptive Control: The behaviors
in less time, improving overall production ii. Write an algorithm for system operation described above are typically implemented as
robots
efficiency. 1. Initialize the control system, sensors, water pump, reactive control mechanisms that respond directly
i. Ergonomic benefits: Robots can handle heavy Repeated in Qn7 Test 1
The forward kinematics of a robot involves and alarm. to sensor input and do not require explicit planning
loads or repetitive tasks that may cause strain for 2. Read the values of pH, turbidity, and temperature or reasoning.
calculating the position and orientation of the end
human workers. from their respective sensors.
j. Competitive advantage: Implementing robotics effector given the joint angles. In contrast, inverse
kinematics calculates the required joint angles to 3. Check if the current values are within the predefined By combining these behaviors in a coordinated
technology can give companies a competitive safe ranges for pH, turbidity, and temperature. manner, the robot can effectively search for pucks,
edge in the market. achieve a desired position and orientation of the end
effector. 4. If any of the parameters are outside the safe range: push them towards the light source, and avoid or
a. Activate the alarm to alert the operators about the escape encounters with other objects. The
3. Illustrate tie forward and inverse kinematics of abnormal condition. individual behaviors work together to achieve the
robots: b. Take necessary corrective actions, such as stopping desired overall functionality, allowing the robot to
Repeated in Qn7 Test 1 the water pump or adjusting the treatment process. exhibit complex and intelligent behavior without
relying on explicit high-level planning.