VINAYAKA MISSIONS UNIVERSITY

DEPARTMENT OF ELECTRONICS & INSTRUMENTATION ENGINEERING

VI SEMESTER-VII
QUESTION BANK
ROBOTICS AND AUTOMATION
UNIT-I
PART – A
1. Define manipulator.
2. What is the official definition of robot provided by RIA?
3. What is the meaning of word ‘robota’?
4. What is meant by robotics?
5. What are the various generations of robots?
6. What are the various organizations that provide definitions for robots?
7. What are the types of robots?
8. What kinds of robots are developed in second generation?
9. Define Degrees of freedom
10. What is the definition of robot given by ISO?
11. How many DOFs are there in a body in 3-D and what are they?
12. What are the factors on which the control of joint depends?
13. Define joint-link variable
14. Define torque
15. State Asimov’s first law of robotics
16. What is the definition of robot given by BRA?
17. Define force
18. State Asimov’s second law of robotics
19. State Asimov’s third law of robotics
20. Define playback robot
21. Define intelligent robot
22. Define telecherics
23. How many DOFs are there in a body in 2-D and what are they?
24. Draw the representation of 6 DOFs W.R.T a co-ordinate frame?
25. Who coined the word ‘robotics’ & when?

PART-B

1. Explain the various generations of robots with neat sketch.

2. Explain briefly about the origin of robotics.
3. Explain about the DOFs in 3-D & 2-D with a neat sketch
 4. Explain the three basic laws of robotics proposed by Asimov’s & different types of robots
5. Explain about dynamic stabilization of robots.
6. Explain through schematic line sketches construction of any two types of wrists or
grippers.
7. Write the various definitions of robots & explain the master-slave operation of a manipulator.
8. What are the drawbacks of numerical control (NC) robots & what is the solution for that?
9. Derive the expressions for two torques (T 1 & T2) developed by a two link arm.
10. Derive the expressions for two torques (T g1 & Tg2) developed by a two link arm.

UNIT-II
PART-A
1. Define drive
2. What are the advantages of hydraulic drives?
3. What are the different types of drive systems?
4. Define gear ratio
5. Compare electric drives & hydraulic drives.
6. Where pneumatic drives are used?
7. What are the disadvantages of hydraulic drives?
8. Define stripper or stripping device.
9. What is machine vision?
10. What are the functions of vision system?
11. What is a picture element?
12. What is frame grabber?
13. What is preprocessor?
14. What are tactile sensor & its use?
15. Define touch sensor.
16. Define force sensor
17. What is the principle of range sensor?
18. What is optical proximity sensor?
19. What are the functions of robot sensors?
20. What is internal state sensor?
21. What is external state sensor?
22. Define path
23. How range is determined by using laser?
24. What is the relationship between distance & pulse transit?
25. What are the different methods available for measurement of range?
 PART-B
1. Explain briefly about the electric drive system & hydraulic drive system
2. Explain briefly about the pneumatic drive system
3. Derive an expression for determination of gear ratio & torque.
4. Explain briefly about tactile sensor
5. Explain briefly about fiber optic sensor
6. Explain the measurement of range by using laser
7. Explain the sensing & digitizing functions present in machine vision
8. Derive an expression for determination of power of a dc motor
9. Explain briefly about path planning
10. Explain briefly about acoustic sensor & range sensor

UNIT-III
PART-A
1. What are the two basic elements present in a manipulator?
2. What is manipulator dynamics?
3. What is forward transformation?
4. What is reverse transformation?
5. What are two approaches that are used to develop the manipulator equations of motion (EOM)?
6. Define Lagrange function & give its expression.
7. Draw the diagram for a two-DOF planar articulated(RR) arm
8. What is end effectors & give its types
9. Define grippers & give its types
10. Define tools
11. What are the types of tools
12. Write any two design consideration in grippers
13. What is artificial constraint?
14. What is natural constraint?
15. What are the advantages of suction cups?
16. What are the advantages of magnetic grippers?
17. What are the disadvantages of magnetic grippers?
18. Define robust control
19. What is adhesive gripper?
20. Where hooks are used?
21. Where scoops & ladles are used?
22. Which kinds of materials are used to manufacture suction cups?
23. Write Lagrange-Euler formula.
24. What is the disadvantage of adhesive gripper & how to overcome it?
25. What are the disadvantages of electromagnetic grippers?

PART-B
1. Explain vacuum cups & magnetic grippers
2. Explain about end effectors & adhesive grippers
3. Explain briefly about the force control technique in manipulator
4. Explain the design consideration steps in gripper
5. Explain manipulator force control
6. Explain the construction of manipulator
7. Explain any two types of grippers
8. Write a short note on tools & grippers
9. Explain manipulator dynamics
10. What is feed back system in robot manipulator

UNIT-IV
PART-A
1. Define inverse solution
2. What are the techniques available for obtaining the inverse solution?
3. What is direct approach in inverse solution?
4. What is geometric approach in inverse solution?
5. What is jacobian control?
6. What is meant by ‘hand’ or ‘T’ matrix?
7. Define branching
8. What are the two basic types of programming methods available in robot?
9. What is lead through method?
10. What is the first robot language & when it is developed?
11. What are the two ways of accomplishing lead through method?
12. What are the robot languages?
13. What is WAVE language?
14. Define inverse kinematic problem?
15. Define workspace of a manipulator
16. Define configuration space
17. What is reachable workspace (RWS)?
18. What is dexterous workspace (DWS)?
19. What is robot programming?
20. Give some o robot programming language commands?
21. What is JARs language?
22. Write about the robot language developed by IBM
 23. Write about the robot language developed by SRI
24. Which robotic language is used for the applications such as assembly, inspection & arc welding?
25. Write about VAL language
PART-B
1. Explain about the solution of inverse kinematic problem
2. Explain about the robot programming languages and their applications.
3. Explain about the multiple jacobian work envelop
4. Explain the hill climbing technique
5. Explain about the following robot languages
i. WAVE & AL
ii. VAL
iii. AML
iv. MCL
6. Explain about the following robot languages
a) RAIL
b) HELP
c) AML
d) MCL
7. Explain about various methods of robot programming
8. Explain any two solutions for inverse kinematic problem
9. Explain about inverse kinematic problem & its solutions
10. Explain jacobian envelope

UNIT-V
PART-A
1. What is meant by multiple robots?
2. Define machine interface
3. Write some of the applications of robot in non-manufacturing field
4. Write some of the applications of robot in manufacturing field
5. What is the classification of robot cell layout?
6. What are the three kinds of transfer system used in in-line cell configuration?
7. What is meant by intermittent transfer?
8. What is meant by continuous transfer?
9. Write some of the applications of robot
10. Define tracking
11. Define automation
12. Define workstation
13. What is meant by moving baseline tracking system?
14. What is meant by moving stationary baseline tracking system?
15. What are the techniques features required for a robot application in material transfer?
16. What are the techniques features required for a robot application in machine loading?
17. What are the techniques features required for a robot application in spot welding?
18. What are the techniques features required for a robot application in spray coating?
19. What are the techniques features required for a robot application in assembly
20. What are the techniques features required for a robot application in arc welding?
21. What is meant by arc welding
22. Draw the diagram for robot-centered workcell layout
23. What is material handling?
24. What is welding?
25. What is machine loading/unloading?

PART-B
1. Explain about multiple robots & machine interface
2. Explain about application of robot in material handling
3. Explain about application of robot in welding
4. Explain about various non-manufacturing application of robots
5. Explain about centered cell layout & mobile robot cell
6. Explain about in-line robot cell layout
7. Explain about any two manufacturing application of robots
8. Explain about any two robot cell design
9. Explain briefly about selection of robots
10. What are the technical features required for a robot in material handling, machine loading, spot welding, arc
welding, spray coating & assembly applications?