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Important Questions

The document contains questions from 6 units related to robotics. It includes questions on robot fundamentals and configuration, drive systems, sensors, transformations, trajectory planning, robot dynamics, programming, motion planning, applications and cell layouts. Diagrams and explanations are requested in some questions.

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Rajakumar Sai
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59 views

Important Questions

The document contains questions from 6 units related to robotics. It includes questions on robot fundamentals and configuration, drive systems, sensors, transformations, trajectory planning, robot dynamics, programming, motion planning, applications and cell layouts. Diagrams and explanations are requested in some questions.

Uploaded by

Rajakumar Sai
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Important Questions

UNIT-I
Robot Fundamentals and Configuration (PART-1)

1) A. What are types of automation? Explain them with examples.


B. Sketch and explain the four basic robot configurations classified
according to the coordinate system (OR)Classify robots based on
configuration and explain them. (PART-1)
2)A. Discuss in detail the architecture of robot system

B. Classify robots based on control system and explain them with neat
sketch

Robot Manipulator and End effectors(PART-2)


3 What are the types of gripper mechanisms? Explain mechanical grippers
with neat sketch.
4 Discuss about Vacuum Grippers and Magnetic gripper with neat sketch
and write their advantages and disadvantages.

UNIT-II
Drive System (PART-1)
5) (A) Explain the working of a stepper motor.(Electrical activator)
(B) Discuss and explain A.C. motor and D.C motor (Electrical activator)
6) Sketch and explain a hydraulic and pneumatic drive system used for robots
and write their merits and demerits
Sensors (PART-2)
7 (A) Briefly explain the working principle of position sensors with neat
sketch. NOTE: Potentiometer, LVDT, Encoder, Resolver
(B)discuss force and torque sensors with neat sketches
8 (A) How do you classify touch and Tactile sensor? Explain them briefly with
neat sketch.
(B) Explain about Proximity and Range sensors in detail
UNIT-III
Transformation(PART-1)
9 (A) What is homogenous transformation matrix? Derive homogenous
transformation matrices for rotation.
(B) Determine the transformation matrix T that represents a translation of
‘a’ units along x-axis, followed by a rotation of ß about x-axis and followed by
a rotation of α about z-axis.
D-H Notations(PART-2)
10 . What is the role of D-H notation? Explain their importance in solving
forward kinematics.
11. problems on forward kinematics

UNIT-IV
Trajectory planning(PART-1)
12. (A) Define path, trajectory, joint space and Cartesian space trajectory
planning.
(B)What are steps in trajectory planning and explain them.
13. Briefly explain the concepts of cubic polynomial and linear function with
parabolic blends in trajectory planning.
Robot dynamics (PART-2)
14. What are fundamental rotation matrices? Determine the equations of motion
for 2DOF RR- planar manipulator arm using Lagrange-Euler Formulation.
15. Determine the manipulator Jacobian matrix and singularities for the 3-DOF
articulated arm.

UNIT-V
Robot progamming(PART-1)
16. (A)Explain about importance of Robot online Programming Note: Lead
through programming and Teach pendent methods
(B) Explain about importance of Robot offline Programming Note: Robot
languages Ex: MH1, WAVE, AL, PLAW, AML, VAL, RAIL etc(any 5)
Motion planning(PART-2)

17. Discuss about the following:


i)Voronol diagram
ii) visibility graph
iii) Cell decomposition
iv)Tangent Graph
v)Accessibility Graph

UNIT-VI
Robot Applications(PART-1)
18.(A)Explain robot material handling applications with neat sketches. (Note:
pick -n-place, loading and unloading and palletising and depalletizing)
(B)Discuss robot application in assembling and inspection
19.(A) What are the processing applications of industrial robots and explain
them with neat sketches (Note: welding and spray painting)
(B) List out the non-industrial applications of robot
Robot Cell layouts(PART-2)
20. What are the different types of cell layouts for work cell design. Explain in
detail
Note: Robot centred work cell
Inline work cell
Mobil robot work cell

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