NOTE:

Kindly find attached a question bank for your reference and study. Prepare the notes for the listed
question from the folder and files contents I had given to mandar to be circulated through gmail drive.
Refer text book of Mittal and seigward for your studies. Most importantly the questions this time may
be theoretical type. Refer your previous IA questions and solutions as well. Also refer my class notes.

Also prepare notes from the presentations you had conducted in class by each group from each batch,
they are going to help a lot. Mostly theory is covered from these modules only. It’s each ones
responsibility to prepare notes for their topic and share with each other to save time and energy.

a) What is redundant manipulator? Explain with a simple sketch.

b) Construct 2 views of workspace for a 4 axis SCARA robot. Take and state suitable values
for link and joint variables.

c) Degrees of freedom for robots

d) Classify the various types of sensors used in robotics and explain construction, working
principle and applications of any one displacement sensor.

e) Comment on Holonomic robot with sketch.

f) Robots applications

g) How facial features of a human are mapped to humanoid robots and explain parts and
components used to control facial features in robots?

h) State the principles of materials handling system? Also discuss about important
considerations while designing the materials handling system for any packing industry.

i) Draw a neat sketch of a stepper motor to explain its working principle using
programming logic to illustrate different angular stepping.

j) Discuss on sound and speech generation technologies for humanoids.

k) What is compliance in Robotic manipulator. Explain with a RCC device with neat sketch

l) Explain Tolman's Sowbug as a basis of Emotion model. Write down the advantages and
disadvantages due to providing of emotions in robots
m) Bar code technology or RFID technology in robots for material handling.

n) Compare hydraulic, pneumatic and electrical actuators with reference to their relative
merits and demerits.

o) Automated Guided Vehicle System (AGVS)

p) Social aspects and future challenges for humanoid robots

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q) Distinguish between Joint space technique and Cartesian space technique in trajectory
planning.

r) Bar code technology or RFID technology in robots for material handling.

s) D-H parameters representation for planer 3R manipulator.

t) Forward kinematics for SCARA robot with diagram. (Refer Mittal text book) also refer
the below diagram.

u) A SCARA robot is shown in Fig. 1 along with axes and other parameters. Find D-H
parameters and final transformation matrix of end effecter.

Fig. 1: SCARA robot

v) Legged locomotion and balancing in humanoids

w) Draw the sketch of robotic system and explain various components of it.

x) Discuss about the motion control system for mobile robot.

y) Define the term workspace analysis. Sketch the work envelops of 5 axis articulated robot.

z) Interfacing of electronic devices to micro-controller

aa) Humanoid motion capturing technologies.

bb) A 2-DOF manipulator with link L1=40mm and L2=25mm with joint limits as follows; -
50 ≤ Ɵ1≤50 and -110 ≤ Ɵ2≤110. Draw the workspace traced by the links.

cc) Locomotion for mobile robot chassis depends on wheel configuration. Tabulate a matrix
to describe a wheel configuration with 2 examples for the following no of wheels viz: 2,
3 and 4 (Refer seigward digital text book).