7.1 Syllabus
EE2023 ROBOTICS AND AUTOMATION 3 0 0 3
UNIT I BASIC CONCEPTS 9
Definition and origin of robotics – different types of robotics – various
generations of robots – degrees of freedom – Asimov's laws of robotics –
dynamic stabilization of robots.
UNIT II POWER SOURCES AND SENSORS 9
Hydraulic, pneumatic and electric drives – determination of HP of motor and
gearing ratio – variable speed arrangements – path determination – micro
machines in robotics – machine vision – ranging – laser – acoustic –
magnetic, fiber optic and tactile sensors.
UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS 9
Construction of manipulators – manipulator dynamics and force control –
electronic and pneumatic manipulator control circuits – end effectors – U
various types of grippers – design considerations.
UNIT IV KINEMATICS AND PATH PLANNING 9
Solution of inverse kinematics problem – multiple solution jacobian work
envelop – hill climbing techniques – robot programming languages
UNIT V CASE STUDIES 9
Mutiple robots – machine interface – robots in manufacturing and non-
manufacturing applications – robot cell design – selection of robot.
TOTAL : 45 PERIODS
TEXT BOOKS
1. Mikell P. Weiss G.M., Nagel R.N., Odraj N.G., Industrial Robotics,
McGraw-Hill Singapore, 1996.
2. Ghosh, Control in Robotics and Automation: Sensor Based Integration,
Allied Publishers, Chennai, 1998.
REFERENCES
1. Deb.S.R., Robotics technology and flexible Automation, John Wiley, USA
1992.
2. Asfahl C.R., Robots and manufacturing Automation, John Wiley, USA 1992.
3. Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering – An
integrated
approach, Prentice Hall of India, New Delhi, 1994.
4. Mc Kerrow P.J. Introduction to Robotics, Addison Wesley, USA, 1991.
5. Issac Asimov I Robot, Ballantine Books, New York, 1986.
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 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
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 "
"The pickup point is constant "a. The pickup point is "
" "different "
"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.
