ROBOTICS QUESTION BANK unit i II III&;IV BY MAHENDRABABU MEKALA, PBRVITS KAVALI

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING Class : IV B.Tech (I sem) (objective type BITS) I,II,III,IV

UNITS:

ROBOTICS 1.  Technology that is concerned with the use of mechanical, electronic and computer based systems in the operation and control of production a). a). Mech Mechan aniz izat atio ion n b). b). Au Auto toma mati tion on c). c). Indu Indust stri rial aliz izat atio ion. n. d). d). all all the the abov above. e. 2. High Highly ly inte integr grat ated ed tran transf sfer er lin lines es come comes s und under er type type of auto automa mati tion on.. a), a), prog progra ramm mma able ble b). b). Fle Flexible ible c). c). Fix Fixed d). d). (a) (a) & (b) (b) 3.  Type of control used in Bang - Bang robot. a), servo b). non-servo c). None of the above d). all the above. 4. SCARA robot is used in.....applications. a).q a).qua ualit lity y cont contro roll b).a b).ass ssem embly bly.. c).d c).def efen ense se.. d). d). all all the the abov above. e. 5. Following is the robotic like device. a). Telecherics. b). exo-skeleton c). locomotive device d). all the above. 6. Number of linear co-ordinates in a cylindrical co-ordinate robot. a). 2 b). 3 c). 1 d). 0 7. Work volume of a spherical robot a), cylinder b). paraboloid c). sphere d). cube 8. Wrist motions of the robot among the following. a), yaw b). pitch c). roll d). all the above. 9.  The attractive feature of SCARA robot a), more tolerance b). Selective compliance c). Accuracy d). Repeatability 10.  Type of control used in Cartesian robot. a), servo b). non-servo c).pneumatic d). hydraulic 11 . .……………….type of robot uses feed back from the control system a), non-servo b). servo c). (a) & (b). d). Pneumatic 12 Type of robot used in spray painting applications a), point to point b).bang-bang c). end point d). continuous path 13. Preferred robot system for load carrying applications a), hydraulic b). Pneumatic c). Electrical d). Mechanical 14. Interface between the last link of the manipulator and the end effector is called a), critical joi joint b). Gripp ipper c). Wrist d). Tool flange 15. Preferred robot system for high repeatability applications a), cylindrical b). Cartesian c). spherical d). any of the above 16.  Type of robot used in transferring the object a), point point to point point b).ban b).bang-b g-bang ang c). end point point d). contin continuou uous s path path 17.  Type of robotic like device used in undersea applications a).T a).Tel elec eche heric rics. s. b). b). exoexo-sk skel elet eton on c). c). locom locomot otiv ive e devi device ce d). d). pros prosth thes esis is 18.  The shape of work volume of a cylindrical robot is.... a), paraboloid b). sphere c). cylinder d). cube 19. Number of polar co-ordinates in a jointed arm configuration a). 2 b). 3 c). 1 d). 0 20.  Type of robot used in grinding applications. a), point point to point point b).ban b).bang-b g-bang ang c). end point point d). contin continuou uous s path path 21. the technical name of a hand attached to the wrist of the robot a), gripper b). end effector c). joint d). any of the above 22..................................................................................................................... the arm and the body joints of  the manipulator are used to..........................................the to..........................................the end effector

a), orien ient b). b). positio ition n c). shake d). any of the above. 23. the robot configuration, which is used in high reach applications a), polar b). jointed armc). spherical d). (a) & (b). 24................................................................................................................................ high repeatability applications of Cartesian configurations is due to................. a), linear joints b). high stiffness of links c). its rigid structure structure d). all the the above. 25................................................................................................... "piston movement inside the engine cylinder" is...................... is................................... ..................................type .....................type of joint. a), prismatic b). rotational c). twisting d). revolving 26. Interface between the last link of the manipulator and the end effector is called a), critical joint b). Gripper c). Wrist d). Tool flange / too mounting plate. 27.  The intelligence which is required to control the manipulator will be provided by a), sensor b). controller c). Sequencer d). Synchronizer. 28.  The device which is used to interpret the data stored in a memory of a robot. a), sensor b). controller c). Sequencer d). Synchronizer. 29.  The device which is used to hold or grasp the object a), a), end end effe effect ctor or b). b). gripp gripper er c). c). (a) (a) or (b). (b). d). d). none none of the the abov above. e. 30. "Only one surface required to grasp or hold the object" by a), vacuum gripper b). magnetic gripper c). adhesive gripper d). any of the above. 31....................................................................... Magnet Magnetic ic gripper gripper is used used only only for materi materials als.[ .[ a), a), stai stainle nless ss stee steell b). b). nonnon-fe ferr rrou ousc sc). ). ferr ferrou ous s d). d). plast plastic ic 32. Ability of the wrist socket to yield elastically, when subjected to a force is called a), elasticity b). stiffness c). strength d). compliance. 33. Remote Remote Cente Centered red Compli Complianc ance e ( RCC ) devi devices ces are used used in in applic applicati ations ons.. a), assembly b). defense c). undersea d). mining 34. Number degrees of freedom exhibited by robot wrist a). 1 b). 2 c). 3 d). 4 35. Type of robot used in spot-welding applications. a), point point to point point b).seq b).sequen uentia tiall c). end point point d). contin continuou uous s path path 36. Type of drive used for larger robots a), electrical b). mechanical c). pneumatic d). hydraulic 37. Type of power used in robot for precision work applications a), electrical b). mechanical c). pneumatic d). hydraulic 38. Smallest increment of the movement into which the robot can divide its work volume a), control resolution b). spatial resolution c). repeatability d). accuracy 39. Mechanical inaccuracy among the following a), gear backlash b). leakage of hydraulic fluid c). c). stre stretc tchin hing g of pull pulley ey card cards s d). d). all all the the abov above. e. 40. Relation between spatial resolution, control resolution and mechanical inaccuracies is a) , spatial resolution = control resolution + mechanical inaccuracies  b) . spatial resolution = control resolution - mechanical inaccuracies c) . spatial resolution = control resolution x mechanical inaccuracies d). spatial resolution = control resolution -r mechanical inaccuracies

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING Class : IV B.Tech (I sem) Descriptive type) I,II,III,IV

UNITS:

ROBOTICS

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Write a detailed notes about Flexible Automation, Automation, with applications. [16] Explain use of Robots in the fields of welding and painting. [16] Explain Explain with the neat diagram diagram how Robot Robot can can be be gainfu gainfully lly employed employed in the inspection methods of component made in large number. [16] (a) Why are Robots used in a flexible manufacturing cells? [8] (b) What advantages are derived by its use in the cell? [8] (a) (a) Wh What at is indus industr tria iall automa automati tion on? ? Comp Compar are e hard autom automat atio ion n with with soft soft automation. [8] (b) Describe the advanced technological features and applications of modern robots? [8] (a) Give the classifi classificatio cation n of of robot robots s by by coord coordinat inate e system system and describe describe the features of each type. [8] (b) Discuss the advantages and disadvantages of using the robots in industry.

[8] 7. (a) Give the classifi classificatio cation n of of robot robots s based based on control control system system and and describe describe their characteristic features. [8] (b) Describe the present day industrial applications applications of robots. [8] 8. Name any three types types of of end end effect effectors ors for robots. robots. State the advantages advantages of  each?[16] 9. With the aid of a sketch sketch describe describe the mounting mounting of a spot spot welding welding electrode electrodes s on a robot wrist. [16] 10. Illustrate a robot gripper with [5+5+6] (a) cam operated (b) gear operated (c) lever (links) operated fingers 10. Name five five differ different ent types types of robot robot end end effector effectors. s. Compare Compare and contrast contrast the the end effectors from the viewpoint of their functions. [16] 11. (a) Briefly describe the various robot components. [10] (b) Define ‘degrees of freedom’. How do you calculate the degrees of freedom of a robot Manipulator? Manipulator? [6] 12. (a) Dicuss briefly about the grippers and give its classification. classification. [8] (b) Show the degrees of freedom for the following joints with the help of neat sketches [8]

13. 14. 15. 16.

(i) Prismatic joint (ii) Revolute joint (iii) Cylindrical joint (iv) Spherical joint (v) Planar joint (vi) Screw joint (a) Explain the selection criteria of end-effectors in robotics. [8] (b) Describe the common types of robot arms. [8] (a) Descri Describe be the degree degrees s of freedom freedom of of a robot robot wrist wrist with with the help help of of a neat sketch. [8] (b) Describe the common types of robot arms. [8] Suppose Suppose ‘R’ ‘R’ represent represents s a rotatio rotation n of 900 about about yo yo followe followed d by a rotatio rotation n of  450 about z1. Find the equivalent axis/angle to represent ‘R’. Sketch the initial and final frames and the equivalent axis vector ‘k’ [16] For the point auvw = (6, 2, 4)T perform following operations. [5+5+6] (a) Rotate 300 about the X axis, followed by translation of 6 units along Y

axis.

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(b) Translate 6 units along Y axis, followed by rotation of 300 about X axis. (c) Rotate 600 about Z axis followed by translation of 10 units along the rotated U axis. Defi efine rotati tatio on tran transf sfo ormati matio on and and exp explain ain how to repre epres sent ent the transformation transformation for rotation of an angle ‘θ’about x , y and z-axis. (a) Define Define Transl Translatio ation n transform transformatio ation n and explain explain how how the coord coordinat inate e of the vector changes.[8] (b) A point P (5,5) lies in a 2-D reference frame. The point has to move along the line at an angle 450 for a distance of 10 units. What are the coordinates of the final position of the point? (a) Find the transformation transformation matrices matrices for the following operations on the point k ˆ 3 - j ˆ 9 i ˆ 4 + . i) Rotate 45o about x-axis and then translate 3 units along zaxis. ii) Translate -4 units along x-axis and rotate 60o about x-axis. [8] (b) State and prove the properties of a rotation matrix. [8] (a) Determine a matrix matrix T that that represents represents a rotation of _ angle angle about x- axis, axis, followed by a translation of b units of distance along the z-axis, followed by a rotation of _ angle about the y-axis. [8] (b) Find the transformation matrices for the following operations on the point 3i+7j+5k i) Rotate 45o about x-axis and then translate -5 units along y-axis. ii) Translate 7 units along y-axis and rotate 60o about x-axis. (a) Determi Determine ne the homoge homogeneo neous us transfor transformat matio ion n matri matrix x to represen representt the following the sequence of operations: (i) rotation of 45o about x-axis (ii) translation of 6 units along x- axis (iii) translation translation of –3 units along z-axis (iv) rotation of 30o about y-axis [8] (a) Find the rotation rotation matrix corresponding corresponding to the set of Euler Euler angles ZYX [6]

(b) Compute the rotation matrix to represent a rotation of 90o about an arbitrary vector 3i+7j+5k [6] (c) Verify that a rotation matrix Rk that describes the elementary rotation, _  about an axis k follows the property, Rk(- _) = Rk(_). [4] 23. Considering a jointed jointed arm robot manipulator manipulator with its x, y and z axes aligned aligned with a reference Cartesian co-ordinate frame but located at {x, y} = {3 mt, -2 mt} the end of arm of the robot is currently at {x, y, z} = {4 mt, 1 mt, 2 mt} relative to the reference co-ordinate frame. As end effector is 0.5 mt in length is attached to the end of arm is pointing vertically down. Relative to the tip of  the end effector is a cube with 15 mm on a side and with its nearest corner positioned 0.5 mt in the x direction 1 mt in y direction and 0 mt in z direction from the tip of the end effector. For the above description make the sketch of  work volume cell. [16] 24. Write Write and explai explain n the algori algorithm thm for deriv deriving ing the forw forward ard kinemati kinematics cs for any any manipulator based on D-H convention. 25. Perform the forward transformation for the five axis Microbot using the following data. Link a α θ d 1. 0 -90 θ1 d1 2. a2 0 θ2 0 3. a3 0 θ3 0 4. a4 + 900 θ4 0 5. 0 0 θ5 d5 26. (a) Explain the different techniques for finding the Inverse kinematics for any manipulator. [8] (b) Derive the forward kinematics equation using the DH convention for the three link planar manipulator. [8] 27. 27. Wh What at is a forw forwar ard d kine kinema mati tics cs prob proble lem? m? Expl Explai ain n Denav enavit it-H -Har arte tenb nber erg g convention for selecting frames of reference in robotic application. [16]