Noorul Islam College of Engineering, Kumaracoil

Department of Mechanical Engineering

Seventh Semester
ME 1008 – ROBOTICS

UNIT 1
1.Name the commonly used robot configuration system?
The commonly used robot configuration systems are
• Cartesian coordinate system
• Cylindrical coordinate system
• Polar or spherical coordinate system
• Revolute coordinate system

2.Sketch the revolving joint and show the relative joint motions?

3.Define a Robot?
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 tasks “.

4. State the advantages of a hydraulic drive?

• It gives greater speed and strength.
• It gives highest power to weight ratio.
• It is used for heavy payloads.
• 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.

5. State the disadvantages of a hydraulic drive?

• It occupies more space.
• Maintenance should be done regularly.

6.What is meant by workspace?

The space in which the end point of the robot arm is capable of operating is called as workspace in other words
reach ability of robot arm is known as workspace.

7. What is meant by work volume?

The volume of the space swept by the robot arm is called work volume.

8. What is meant by work envelop?

The work envelop is described by the surface of the work space.

9. What is meant by accuracy of Robot ?

The robot’s ability to reach a reference point with in the robot’s full work volume is known as accuracy of
robot.

10.What is meant by payload capacity of Robot?

The maximum load which can be carried by the manipulator at low or normal speed .
11. What is meant by precision of Robot?
It is the smallest increment of motion for which the robot can be controlled

12.What is repeatability of Robot?

Repeatability refers to robot’s ability to return to the programmed point when it is commanded to do so.

13.What is meant by quality of Robot?

A Robot is said to be high quality when the precision and accuracy is more .

14. Classify the motion control of Robot arm?

• Limited sequence control
• Point to Point control
• Continuous path control
• Intelligent control
15. What is automation?
It is a technology that is concerned with the use of mechanical electronic and computer based system in the
operation and control of production.

16. What are the types of automation?

1) Fixed automation
2) Programmable automation
3) Flexible automation

17. What are the types of robot anatomy?

1) Polar
2) Cylindrical
3) Cartesian
4) Jointed arm

18. What are the types of robot movements?

1) Arm and body motion
2) Wrist motion

19. What are the types of wrist motions?

1) Wrist roll
2) Wrist pitch
3) Wrist yaw
20. Define speed of response?
Speed of response refers to the capability of the robot to move to the next position in a short amount of time.

UNIT-2
1. Define End effector:-
End effector is a device that is attached to the end of the wrist arm yo perform specific task .

2. Give some examples of Robot End effector:-

o Gripper
o Tools
o Welding equipments
o End of arm Tooling (EOAT)

3. What is meant by Gripper?

Gripper is the End effector which can hold or grasp the object.

4. What are the types of Grippers?

• Magnetic Gripper
• Mechanical Gripper
 • Hooking Gripper
• Vacuum Gripper

5.What is a stripping device?

A device used to remove work piece from the magnetic gripper

6 What are the types of mechanical Grippers?

• Linkage actuation gripper
• Gear and rack actuation gripper
• Cam actuated gripper
• Screw actuated gripper

7. Give some examples of tool as Robot End effector

• Spot Welding Tools
• Arc welding Torch
• Spray painting nozzle
• Water jet cutting tool

8. Define compliance of a robot?

It refers to the displacement of the wrist end in response to a force or taught exerted against it.

9.Name some feedback devices used in robotics?

• Potentiometer
• Resolver
• Encoder

10.What are the types of encoders?

A. Linear encoder
B. Rotary encoder
(i) Absolute encoder (ii) Incremental encoder

11. List the various actuating mechanisms used in mechanical grippers.

• Linkage actuation gripper
• Gear and rack actuation gripper
• Cam actuated gripper
• Screw actuated gripper

12. What is the principle of vacuum cup?

The principle used in vacuum pump and Venturi

13. List the advantages of magnetic grippers?

• Pickup times are very fast
• Variations in part size can be tolerated. The grippers do not have to be designed for one particular work part.
• They have the ability to handle metal parts with holes.
• They require only one surface for gripping

14. List the disadvantages of magnetic grippers?

• Residual magnetism
• Side slippage
• More than one sheet will be lifted by the magnet from a stack

15. Name the types of magnetic grippers.

1) Electromagnetic grippers
2) Permanent magnet grippers
16.Define adhesive grippers?
Grippers in which an adhesive substance performs the grasping action for handling fabrics and other lightweight
material are called Adhesive grippers.

17. What are the limitations of adhesive grippers?

• Adhesive substances losses his tackiness on repeated usage.
• Reliability is diminished with successive operations

18. How can we overcome the limitation of adhesive grippers?

The adhesive material is loaded in the form of a continuous ribbon into a feeding mechanism that is attached to
the robot wrist.

19. List the advantages/features of suction cup grippers

• Requires 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

20. What are the means by which air is removed from the vacuum cup?
1. Vacuum pump 2. Venturi

UNIT - 3
1.What is frame grabber?
It is a hardware device used to capture and store the digital image.

2.What is the common imaging device used for robot vision system?
Black and white videocon camera, charge coupled devices, solid-state camera, charge injection devices.

3.What is pixel?
Picture elements are also known as pixels

4.What is a frame of a vision data?

The digital image of the camera is called frame of vision data

5.What is segmentation?
Segmentation is the method to group areas of an image having similar characteristics or
features into distinct entities representing part of the image.

6. What is thresholding?
Thresholding is a binary conversion technique in which each pixel is converted into a binary value either black or
white.

7.What is region growing?

Region growing is a collection of segmentation techniques in which pixels are grouped in regions called grid
elements based on attribute similarities.

8.What are the functions of machine vision system?

• Sensing and digitizing image data
• Image Processing and analysis
• Application

9. What are the applications of machine vision system?

• Inspection
• Identification
• Visual Serving and navigation
10.What is a sensor?
Sensor is a transducer that is used to make a measurement of a physical variable of interest.

11.What is a transducer?
Transducer is a device that converts the one form of information into another form without changing the
information content

12. What are the basic classifications of sensors?

Tactile Sensors, Proximity Sensors, Range sensors, Voice sensors etc

13. What are the desirable features of a sensor?

Good Accuracy, High Precision, Wide operating range, Instant speed of response, Good Repealibility, Low cost
and ease in operation

14. What is a tactile sensor?

Tactile sensor is device that indicates the contact between themselves and some other solid objects.

15 List the different types of tactile sensor?

Digital (Touch) Sensor and Analogue (Force) Sensor

16.What is a touch sensor?

Sensor, which senses the presence or absence of the object by having physical contact between the objects

17. List the components of the force wrist

Metallic frame, Bracket for tool mounting and strain gauges.

18 What is a tactile array sensor?

Tactile array sensor is a special type of force senor composed of a matrix of force sensing elements.

19. What is a Proximity sensor?

Sensor, which senses the presence or absence of the object without having physical contact between the objects

20. What are the classifications of a proximity sensor?

• Inductive Sensor
• Capacitive Sensor
• Ultrasonic Sensor
• Magnetic Sensor

21. What is a range sensor?

Sensor which senses the range of the object

22. What is a voice Sensor?

It is an advanced sensor system used to communicate commands or information orally to robot.

23. 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.

24. What is a potentiometer?

Potentiometer is an electrical meter to measure the voltage.

25. What is inspection?

It is the quality control operation in which the checking of part assembly or products for conformance to
certain criteria is specifying by the design-engineering department.
 UNIT - 4
1 What are the methods of Robot programming: -
a. Lead through methods
b. Textual robot languages
c. Mechanical Programming

2 What are ways of accomplishing lead through programming: -

Powered Lead through
Manual Lead through

3. What is teach pendant

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 .

4. What are the methods of teaching: -

• Joint movements
• X-Y-Z coordinates motions
• Tool coordinate motions

5. What is forward kinematics?

It is a scheme to determine joint angles of a robot by knowing its position in the world coordinate system

6. What is reverse kinematics?

It is a scheme to determine the position of the robot in the world coordinate system by knowing the joint angles
and the link parameters of the robot.

7. What is continuous path programming?

It is the types of programming were the motion cycle involves smooth complex curvilinear movements of robot
arm.

8. What are the two modes of lead through programming?

• Teach mode
• Run mode

9. What are limited sequence non-servo robots?

They are robots which are programmed using manual setup procedures rather than lead through methods and can
usually moves both joints at the same time.

10. Define servo control robots

Servo control robots, which are programmed by lead through and textual language methods, tend to activate all
access simultaneously.

11. Explain the various methods for teaching robots

1) Joint movements
2) x-y-z Coordinate motions (Also called world coordinates)
3) Tool coordinate motion

12. Explain joint mode of teaching robots.

The teach pendant has a set of toggle switches (or similar controlled devices) operate each joint either of it to
directions until the endeffector has been positioned to the desired point.

13. Explain the reasons for defining points in a program.

1) To define a working position for the endeffector
2) To avoid obstacles
14. What are the different types of motion that robot manipulator can make in traveling from point to point?
1) Slew motion
2) Joint interpolated motion
3) Straight line motion
15) What is position representation?
The position of the end of the arm may be represented by the two joint angles θ1 and θ2.this is known as position
representation.
Pj =(θ1,θ2)

16. Define servo controlled robots.

Servo controlled robots, which are programmed by lead through an textual language methods tend to actuate all
axes simultaneously.

17. What is straight line interpolation?

Straight line interpolation which robot controller computes the straight line path between two points and develops
the sequence of addressable points along the path for the robots to pass through.

18. What is circular Interpolation?

Circular Interpolation requires the programmer to define a circle in the robot’s workspace which is done by
specifying three points that lie along the circle.

19. What is manual lead through programming?

In manual lead through programming the programmer moves the manipulated wrist to teach spray-painting or arc
welding. The movements consist of combination of smooth motion segments.

20. What are irregular smooth motions?

The segments in manual lead though programming are sometimes approximately straight sometimes curved and
sometimes back and forth motions. These motions are called irregular smooth motions.

Unit – 5
1.What is AGV?
Automated guided vehicle (AGV) is an independently operated self-propelled vehicle guided along defined
pathways in the floor. It is normally powered with batteries.

2.What are the components of AGV?

1) Vehicle guidance and routing components
2) Traffic control and safety components
3) System management components

3.Write some applications of AGV?

1) Driverless train operations
2) Storage distribution system
3) Assembly line operation
4) FMS

4. What are the benefits of AGV?

1) Flexibility
2) Real-Time monitoring and control
3) Good safety
4) Good Maintenance

5.What are the steps to be followed by the company in order to implement robot programs in its operations?
1) Initial familiarization with the technology
2) Plant survey to identify potential applications
3) Selection of the application
 4) Selection of the robot
5) Detailed economic analysis and capital authorization
6) Planning and engineering the installation
7) Installation

6. What are the general characteristics that make potential robot application technically practical and economically
feasible?
1) Hazardous or uncomfortable working conditions
2) Repetitive operations
3) Difficult handling jobs
4) Multicast operation

7. What are the typical technical features required for material transfer?
Number of axes: 3to 5
Control system: limited sequence or point-to-point playback
Drive system: pneumatic or hydraulic
Programming: manual, powered lead through

8. Define a deadman switch?

A dead man switch is a useful control feature during lead through programming. It is a trigger or toggle switch
device generally located on the teach pendant which requires active pressure to be applied tom the devices in
order to drive the manipulator.

9. What are the essential ingredients of an effective robot maintenance program for a company?
1) A maintenance staff of highly skilled, highly trained personnel
2) An appropriate preventive maintenance program
3) A rational spare parts policy

10.What are the responsible for maintenance staff to the maintenance activity?
1) Preventive maintenance
2) Emergency maintenance

11.Define preventive maintenance?

Preventive maintenance involves the planned servicing of equipment at periodic intervals

12.Define emergency maintenance?

It is the case when the maintenance crew is called in to repair a robot that malfunctions or breaks down during
regular operation.

13. Define MTTR?

The mean time to repairs the measure used to indicate how much time, on average, is spent repairing the robot for
each breakdown.

14.Define MTBF?
The mean time between failures indicates how long, on average, the machinery will operate between breakdowns.

15. Define payback period?

IT is the length of time required for the net accumulated cash flow to equal the initial investment in the project.

16. What is the objective of preventive maintenance?

The objective of preventive maintenance is to service the equipment at periodic intervals to reduce the occurrence
of emergency breakdown incidence.

17. What are the different methods of economic analysis?

1) Payback method
2) Equivalent uniform annual cost (EUAC) method 3)Return on investment (ROI) method
18. What is the cost data required to perform the economic analysis of a robot project?
1) Investment cost
2) Operating costs

19. Write a note on ROI method?

The return on investment method determines the rate of return for the proposed project based on the estimated
cost and revenues.

20. Define EUAC method?

Equivalent uniform annual cost (EUAC) method converts all of the present and future investments and cash flows
into their equivalent uniform cash flows over the anticipated life of the project.

Descriptive Questions

Unit - 1
1. Explain different robot anatomy
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 21
2. Explain robot motion in detail
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 27
Unit - 2
3. Explain the robot drive system and control system with neat sketch
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 32
4. Explain mechanical grippers in detail with figures
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 118
5. Explain the following with neat sketch.
1) Vacuum grippers
2) Magnetic grippers
3) Adhesive Grippers
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 127
Unit - 3
6. Explain the different types of tactile sensors
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 147
7. Describe the proximity and range sensors in detail with neat diagram?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 153
8. Explain the type of position sensors in detail?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 67
9. Explain function of machine vision in detail
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 161
10. Explain the sensing and digitizing function in machine vision in detail.
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 164
11. Describe in detail about image process analysis.
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 172
12. What are the types of imaging techniques used in robotics?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 172
Unit - 4
13. Explain the lead through programming method in detail?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 190
14. Explain about robot kinematics and degrees of freedom.
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 89
15. Explain the generation of robot programming language?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 215
16. Explain in detail robot language structure and motion commands used?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 219
17. Explain the endeffector and sensor commands in detail?
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 228.
18. Write a program for pick and place.
 Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 235
19. Explain robot programming in detail.
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 189

Unit - 5
20. Explain about automated guided vehicle in detail.
Refer CAD/CAM by J.Fernadez Pg No. 5.31
21. Describe the methods of economic analysis.
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 351
22. Explain in detail about the safety and maintenance required while implementing robot in industries.
Refer INDUSTRIAL ROBOTICS by Mitkell P.Groover Pg. No 469