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 ROBOTICS

UNITS:

1. Technology that is concerned with the use of mechanical, electronic and computer

based systems in the operation and control of production a). Mechanization b). Automation c). Industrialization. d). all the above. 2. Highly integrated transfer lines comes under type of automation. a), programmable b). Flexible c). Fixed d). (a) & (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).quality control b).assembly. c).defense. d). all the above. 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 joint b). Gripper 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 to point b).bang-bang c). end point d). continuous path 17. Type of robotic like device used in undersea applications a).Telecherics. b). exo-skeleton c). locomotive device d). prosthesis 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 to point b).bang-bang c). end point d). continuous 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 end effector

a), orient a), polar

b). position

c). shake

d). any of the above.

23. the robot configuration, which is used in high reach applications

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 d). all the above. 25..................................................................................................."piston movement inside the engine cylinder" is........................................................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), end effector b). gripper c). (a) or (b). d). none of the above. 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.......................................................................Magnetic gripper is used only for materials.[ a), stainless steel b). non-ferrousc). ferrous d). plastic 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 Centered Compliance ( RCC ) devices are used in applications. 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 to point b).sequential c). end point d). continuous 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). stretching of pulley cards d). all the above. 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) UNITS: I,II,III,IV ROBOTICS Write a detailed notes about Flexible Automation, with applications. [16] Explain use of Robots in the fields of welding and painting. [16] Explain with the neat diagram how Robot can be gainfully 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) What is industrial automation? Compare hard automation with soft automation. [8] (b) Describe the advanced technological features and applications of modern robots? [8] (a) Give the classification of robots by coordinate system and describe the features of each type. [8] (b) Discuss the advantages and disadvantages of using the robots in industry.

1.

2. 3. 4. 5.

6.

[8] 7. (a) Give the classification of robots based on control system and describe their characteristic features. [8] (b) Describe the present day industrial applications of robots. [8] 8. Name any three types of end effectors for robots. State the advantages of each?[16] 9. With the aid of a sketch describe the mounting of a spot welding electrodes 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 different types of robot end effectors. Compare and contrast 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? [6] 12. (a) Dicuss briefly about the grippers and give its classification. [8] (b) Show the degrees of freedom for the following joints with the help of neat sketches [8]

13. 14. 15. 16. axis.

(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) Describe the degrees of freedom of a robot wrist with the help of a neat sketch. [8] (b) Describe the common types of robot arms. [8] Suppose R represents a rotation of 900 about yo followed by a rotation 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 (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. Define rotation transformation and explain how to represent the transformation for rotation of an angle about x , y and z-axis. (a) Define Translation transformation and explain how the coordinate 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 matrices for the following operations on the point k 3 - j 9 i 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 T that represents a rotation of _ angle about x- 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) Determine the homogeneous transformation matrix to represent the following the sequence of operations: (i) rotation of 45o about x-axis (ii) translation of 6 units along x- axis (iii) translation of 3 units along z-axis (iv) rotation of 30o about y-axis [8] (a) Find the rotation matrix corresponding to the set of Euler angles ZYX [6]

17. 18.

19.

20.

21.

22.

(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 arm robot manipulator with its x, y and z axes 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 and explain the algorithm for deriving the forward kinematics for any manipulator based on D-H convention. 25. Perform the forward transformation for the five axis Microbot using the following data. Link a d 1. 0 -90 1 d1 2. a2 0 2 0 3. a3 0 3 0 4. a4 + 900 4 0 5. 0 0 5 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. What is a forward kinematics problem? Explain Denavit-Hartenberg convention for selecting frames of reference in robotic application. [16]