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Take Home Quiz sample answer

Part A

1. What is the name of the robot's arm?
A. Controller
B. Wrist
C. Elbow
D. Manipulator
E. Activator

2. Vertical travel is the name for the robots movement in which direction?
A. Up and down
B. Side to side
C. Twisting of the robot's head
E. The arm lift

3. The robot's "wrist" can sometimes move in two directions. What are they?
A. In and out
B. Bend and rotate
C. Twist and roll
D. Rock and roll
E. Squeeze and clamp

4. The points at which a robot can twist or bend are called what?
A. Benders
B. Twisters
C. Axes
D. Axles
E. Transaxles

5. The robot's column rotation axis is similar to what movement on a human ody?
A. A head shaking
B. A mouth talking
C. A foot stomping
D. A knee bending
E. A waist twisting

6. An arm reaching out and pulling back is similar to what axis on the robot?
A. Elbow twist
B. Wrist twist
C. Extend and retract
D. Air shock
E. Muscle bend

7. The robot's power supply provides what kind of energy for the robot?
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A. Electrical energy
B. Pneumatic energy
C. Hydraulic energy
D. All of the above
E. None of the above

8. The "controller" is what part of the robot?
A. Moveable feet
B. Brain
C. Arm
D. Gripper
E. wiring system

9. What is the name for the devices that make the manipulators move?
A. Manipulator controllers
B. Control manipulators
C. Actuators
D. Activators
E. Manactivators

10. What device is made up of a light-emitting diode and a phototransistor?
A. Infra-green metal detector
B. Optoelectronic sensor
C. Metal detective sensor
D. Light transducing triode
E. None of the above


11. The word "ROBOT" was chosen because of what quality?
A. A small degree of flexibility
B. A large degree of flexibility
C. Great strength
D. An extremely wide range of uses
E. Computer circuitry




12. What was the forerunner of the robot?
A. MPU
B. CPU
C. CPA
D. Hard automation
E. Automatic Processing Unit

13. Servo controls offer robots what advantage?
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A. The ability to sleep when tired
B. The ability to talk
C. The ability to make adjustments to its surroundings
D. The ability to keep batteries charged indefinitely
E. The ability to allow the robots arm to lift more weight

14. What is the advantage of having robots in industry?
A. To put people out of work
B. To increase the cost of products
C. Robots are smarter than people
D. To do jobs that would be boring to people
E. There is no advantage to using robots in industry

15. Which kind of robot can perform a wide range of tasks but is somewhat
limited?
A. Hard animation
B. Low-technology robot
C. Medium-technology robot
D. High-technology robot
E. Super high-technology robot


16. What kind of robot makes up 1/3 of the industrial robots used in the United
States?
A. Hard animation
B. Low-technology robot
C. Medium-technology robot
D. High-technology robot
E. Super high-technology robot

17. What kind of robot is able to be programmed to do many different tasks easily?
A. Hard animation
B. Low-technology robot
C. Medium-technology robot
D. High-technology robot
E. Super high-technology robot

18. What is the most important advantage of the medium technology robot as
compared to the low technology robot?
A. Lighter in construction
B. Can speak in foreign languages
C. Is able to learn
D. Painted newer colors
E. There is no advantage

19. Which robots are capable of spray painting?
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A. Toy Robots
B. Only French-made robots
C. High-technology robots
D. Super high-technology robots
E. None, they cannot hold a spray gun

20. Hard animation machinery was controlled by what?
A. Timers
B. Cams
C. Electrical Stops
D. Mechanical Stops
E. Any of the above










1. What is the name of the robot's arm?
(D. manipulator)

2. Vertical travel is the name for the robot's movement in which
direction?
(A. up and down)

3. The robot's "wrist" can sometimes move in two directions. What
are they?
(B. bend and rotate)

4. The points at which a robot can twist or bend are called what?
(C. axes)

5. The robot's column rotation axis is similar to what movement on a
human body?
(E. a waist twisting)

6. An arm reaching out and pulling back is similar to what axis on
the robot?
(C. extend and retract)

7. The robot's power supply provides what kind of energy for the
robot?
(D. all of the above)

8. The "controller" is what part of the robot?
(B. brain)

9. What is the name for the devices that make the manipulators move?
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(C. actuators)

10. What device is made up of a light-emitting diode and a
phototransistor?
(B. optoelectronic sensor)


11. The word "ROBOT" was chosen because of what quality?
(A. A small degree of flexibility)

12. What was the forerunner of the robot?
(D. Hard animation)

13. Servo controls offer robots what advantage?
(C. The ability to make adjustments to its surroundings.)

14. What is the advantage of having robots in industry?
(D. To do jobs that would be boring to people)

15. Which kind of robot can perform a wide range of tasks but is
somewhat limited?
(C. Medium-technology robot)

16. What kind of robot makes up 1/3 of the industrial robots used in
the United States?
(B. Low-technology robot)

17. What kind of robot is able to be programmed to do many different
tasks
(D. High-technology robot)

18. What is the most important advantage of the medium technology
robot as compared to the low technology robot.
(C. Is able to learn)

19. Which robots are capable of spray painting?
(C. High-technology robots)

20. Hard animation machinery was controlled by what?
(E. Any of the above)














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Part B

1. Define the following terms : Degree of Freedom [ DOF ] , Coordinate
Transformation , Precision , Accuracy , Tool Orientation , Work Space Envelope .

2. How are robots classified?

3. Define the following terms related to robotic manipulators and give brief
comments :

4. State whether the following statement is true or false and justify your answer:
Repeatability is measured in mm 1.

5. Describe Work Volume. What is the work volume for a cylindrical coordinate
robot?

6. Explain any three types of grippers with diagrams.

7. Give brief answers: Differentiate between Hard and Soft Automation.

8. Explain with figures any two industrial applications for a robot

9. Write any 4 factors on which the work space of any robot will depend upon.

10. Write short notes on the functions of a robot controller.

11. Sketch a single line diagram of an anthromorphic hand (human hand) and write
down the DOF below each joint. How much is the total DOF? What is the
difference between the human hand and the robot hand?

Take Home Quiz 2 MTA 1013
This quiz consist 5 questions you are required to solve the entire question.

1. There are five types of robot arms that are used today. Degrees of freedom
are the axes around the arm in which it is free to move. The area a robot
arm can reach is its work envelope. Clearly define all the type.

2. By referring to the statement below notify each of the item from (a),(b),(c),(d)
is True or False

Rectangular arms are sometimes called (a. "Cartesian") because the arm's axes can
be described by using the X, Y, and Z coordinate system developed by (b.
Descartes). Descartes is a famous French philosopher, scientist, and mathematician.
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If a pen were attached to the arm, it would draw a (c. rectangle) which would be its
(d. work envelope). Imagine a graph where X would be side to side, and Y would be
in and out on the graph. Up and down would be Z which runs through the graph and
describes depth. Z also adds the third dimension.

A: True/False
B: True/False
C: True/false
D: True/False

3. By referring to the statement below notify each of the item from (a),(b) is
True or False.

A cylindrical arm also has (a. three degrees of freedom), but it moves linearly only
along the Y and Z axes. Its third degree of freedom is the rotation at its base around
the two axes. The work envelope is in the shape of a (b. cylinder).
A: True/False
B: True/False

4. By referring to the statement below notify each of the item from (a), is True
or False.

The spherical arm replaces up and down movements along the two axes with a
rocking motion of the arm. The spherical arm's work envelope is a (a. partial
sphere) which has various length radii.
A: True/False

5. By referring to the statement below notify each of the item from (a),(b),(c),(d)
is true or False.
The jointed-arm, the arm has a trunk, shoulder, upper arm, forearm, and wrist. All
joints on the arm can rotate, creating (a. six degrees of freedom). Three are the X,
Y, and Z axes. The other three are pitch, yaw, and roll. (b. Pitch) is when you move
your wrist up and down. (c. Yaw) is when you move your hand left and right. Rotate
your entire forearm as if you are drilling a hole. Your arm would rotate around an
axis that goes through the center of your wristbone. This motion is called 9 (d. roll).
A: True/False
B: True/False
C: True/false
D: True/False



Resistors in Series


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The circuit diagrams at below shows three resistors in series with a DC power supply.
The currents in each part of the circuit are labeled I0, I1, I2, and I3.


1. What can you say about the currents I0, I1, I2, and I3?

True: All of the currents are the same (I0 = I1 = I2 = I3)
False: All of the currents are the same ( I0 = I1 = I2 = I3)

2. Write down the equation that comes from applying Kirchoff's Loop Rule
(involving voltage) to the circuit.

True: Starting at the power supply and going around clockwise: E - IR1 - IR2 - IR3 =
0
False: Starting at the power supply and going around clockwise: E - IR1 - IR2 - IR3 =
0

3. What is the numerical value for the current I0?

True: Starting at the power supply and going around clockwise:



False: Starting at the power supply and going around clockwise:


4. What is the effective resistance of the 3 resistors? In other words, what should R
be so that the current I in the simple circuit below is equal to I0 assuming the
same E.

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True: Reff = R1 + R2 + R3 = 600 ohms
False: Reff = R1 + R2 + R3 = 600 ohms


Resistors in Series

The circuit diagrams at below shows three resistors in series with a DC power supply.
The currents in each part of the circuit are labeled I0, I1, I2, and I3.


1. What can you say about the currents I0, I1, I2, and I3?

True: I0 = I1 + I2
False: I0 = I1 + I2



2. Write down the equation that comes from applying Kirchoff's Loop Rule to the
left loop.


True: Starting at the power supply and going around clockwise:




False: Starting at the power supply and going around clockwise:



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3. What are the numerical values for the two currents I1 and I2?

True:

False:




4. What is the numerical value for the current I0?
True:


False:


Series/Parallel Combination Circuit
In the circuit shown below, calculate the following.

a) The total resistance of the circuit. (3m)
b) The total current in the circuit. (2m)
c) The voltage drops measure at each of the voltmeters. (4m)
d) The current through each of the parallel ammeters. Is Kirchoff's Law being obeyed?
(3m)
e) The power output of the battery and the power dissipated at each resistor. (3m)
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Series/Parallel Combination Circuit
Solution:
a)


b)

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c)


d)

Kirchoff's Law is being obeyed.

e)


Assorted Circuits
1. Examine the electric circuit below.

What is the direction of conventional current and electron flow in this circuit?
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2. A potential difference of 12 V causes 0.35 C of electric charge to pass through a
resistor in 2.6 s. What power does the resistor dissipate?
A. 1.6 W
B. 4.2 W
C. 11 W
D. 89 W
3. The diagram below shows part of an electric circuit.

What is the current through resistor R
1
?
A. 1.0 A
B. 1.4 A
C. 1.6 A
D. 3.0 A
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4. A flashlight contains two batteries in series with a bulb of resistance 12 O. Each
battery has an emf of 1.5 V and an internal resistance of 0.26 O. What is the potential
difference across the bulb?
A. 0.12 V
B. 1.5 V
C. 2.9 V
D. 3.0 V
5. If switch S is closed, how does the brightness of each bulb (X, Y, and Z) compare to
the situation when the switch was open? Assume all bulbs have the same resistance.


6. In the following circuit, what is the terminal voltage of the battery?

A. 6.9 V
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B. 7.0 V
C. 8.0 V
D. 9.0 V

7. Given the circuit as shown below, answer the following questions.


a) What is the total resistance of the circuit? (3)




b) What is the total current in the circuit? (2)



c) What power is dissipated by the 6 O resistor? (4)

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d) What is the potential difference between point x and point y? (3)




e) If switch S is now opened what power is dissipated by the 6 O resistor? (2)


Assorted Circuits
Solutions:
1.
C
2.


3.


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4.


5.
B

6.


7. a)



b)



c)



d)



e)

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Assorted Circuits 2
1. In the simple circuit shown, the power produced in the resistor R is one quarter that
produced in the 2.0 resistor. The resistance R is

A. 0.5 O
B. 8.0 O
C. 18 O
D. 32 O
2. A student mistakenly places a voltmeter in series in a circuit, as shown, in order to read
the current. In this location, the voltmeter reading will be closest to

A. 0 V
B. 4.0 V
C. 6.0 V
D. 12 V
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3. Four 20 O resistors are connected in parallel and the combination is connected to a 20
V power source. What is the current drawn from the power source?
A. 0.25 A
B. 1.0 A
C. 4.0 A
D. 100 A
4. Consider the following circuit branch.

What is the potential difference between points X and Y?
A. 4 V
B. 8 V
C. 16 V
D. 20 V
5.. A 9. V battery with an internal resistance of 0.80 O is connected to two resistors as
shown below. Determine the terminal voltage Vab of the battery. (4 marks)
20








6. Consider the following circuit:

a) Determine the equivalent resistance. (2 marks)


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b) Determine the current through the 4.0 resistor. (3 marks)



c) Suppose the resisters were actually bulbs. If the bulb with 4.0 O resistance was
removed, would the bulb with 12.0 O resistance burn brighter or dimmer? Use principles
of physics to justify your answer (3 marks)






7. The diagram below shows a 9.0 V battery with negligible internal resistance connected
in series with two resistors, one of them of unknown resistance R.

If a third resistor of resistance 15.0 kO is added to the circuit in series with the unknown
resistor, the voltage across the unknown resistor becomes 3.0 V. What is the value of R?
(5 marks)
Assorted Circuits 2
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Solutions:
1.
B
2.
D
3.
C
4.
D
5.


6.
a)



b)


c)
The "new" resistance of the circuit would be 32.0 O and therefore the
current in the circuit 1.875A. This means the voltage drop across the 12.0
O resistor has increased from 4.0 V to 7.5 V, thus the 12.0 O bulb now
burns brighter.
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7. If the voltage drop across the unknown resistor is 3.0 V, then the voltage
drop across the 15 kO resistor and the 17 kO resistor in series must be 6.0
V, thus the current in the circuit is

So the value of the unknown resistor is given by


The current through the 8.0 O resistor shown below is 0.60 A. (a) Determine the terminal
voltage Vab of the battery, (b) the emf (c) the voltage drop Vac , and (d) the power
dissipated by the 5.0 O resistor. (10 marks)

Series/Parallel Combination Circuit 2
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Solution:
a) Calculate the voltage drop across the parallel branch.
Given that the current is 0.60 A and that the resistance of the branch is 15 O, the voltage
drop is
V = (0.60 A)(15 O) = 9.0 V
Thus the voltage drop across the 5.0 O resistor is also 9.0 V, so the current through that
branch is

The total current in the circuit is then 2.4 A. (Kirchoff's Current Law)
Now calculate the voltage drops across the 6.0 O and 4.0 O resistors.
V
6O
= (2.4A)(6.0O) = 14.4V
V
4O
= (2.4A)(4.0O) = 9.6V
Analysis of the circuit reveals that the terminal voltage of the circuit is equal to the sum
of the voltage drops
V
terminal
= 9.0 V + 14.4 V + 9.6 V = 33 V
b) Emf of the battery is given by
E = V
terminal
+ Ir = 33 V + (2.4A)(1.7O) = 37 V
c) Voltage drop V
ac
is simply the sum of the voltage drop across the 6.0 O and 7.0
O resistors.
V
7O
= (0.60A)(7.0O) = 4.2V
V
ac
= 14.4 V + 4.2 V = 18.6 V
d) Power dissipated by the 5.0 O is given by P = I
2
R,
P = (1.8A)
2
(5.0 O) = 16.2 W

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You are to select a robot for a pick-and-place operation. You will teach all
of the important points in the operation by lead through. What characteristics on
the specification sheet are important to you?

a. Repeatability
b. Position accuracy
c. A and B

2. You are to select a robot for an arc welding operation. You will program
the robot offline based a computer model of work space. What characteristics on
the specification sheet are important to you?
a. Repeatability
b. Position accuracy
c. A and B

3. In selecting an industrial robot, the least important characteristics in the
following list is
a. Be programmable
b. Configuration of the arm
c. Degrees of freedom (dof)
d. Size of the working envelop
e. Payload
The reason(s) that there are many people involved in robotics industry is
because
i) The robots generate great profit today in almost any applications.
ii) The robots are so intelligent that they can be used for any applications.
iii) The robotics application has great potentials.
iv) Robots are more fun to work with.

A link in a robot arm is the
a) collection of wires from the controller to the arm joints.
b) data path from the computer to the arm's controller.
c) connection between joints of the arm.
d) software that defines the communications protocol between the arm and its
controller.

A robot arm with 3 degrees of freedom
a) can reach any point in 3-dimensional space.
b) can necessarily move its end-effector about in 3-D space.
c) may be more effective in a given application than one with 4 DOF.
d) is capable of mimicking the human arm.
Robot arms are used (in the operating room; in factories; etc.) because they
a) are cheaper than traditional methods.
b) are more intelligent than any human operator could ever hope to be.
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c) create jobs for technicians.
d) can operate at angles not achievable by the human they replace.

Robots used in law enforcement
a) are used mainly to "shoot it out" with armed felons.
b) function soley as teleoperated drones.
c) are the true American heroes.
d) are frequently used for bomb disposal.


Matching. In the blank next to a term, place the letter of the best matching
definition or example. No letter will be used more than once; some will not be
used. 2 points each.
1. __r_ state hierarchy
2. __c_ transducer
3. __o_ cartographer
4. __s_ model-oriented
5. __m_ sequencer
6. __h_ logical redundancy
7. __k_ sensor suite
8. __d_ passive sensor
9. __i_ proprioception
10. __j_ exteroception
11. __g_ physical redundancy
12. __n_ resource manager
13. __f_ active sensing
14. __l_ modality
15. __t_ motor schema