UNIT-I BASIC CONCEPTS Part A Questions (2 MARKS) 1. Define a Robot? 2. What is mean by automation? 3. What is a robot? 4.

What are the rules of robot? 5. Why a robot used? 6. What is meant by robot anatomy? 7. Name the commonly used robot confi uration system? !. What are the ty"es of automation? #. Write are the $enefits of industrial automation? 1%. &ist the different ty"es of robots? 11. Write 'simo()s la*s of robotics? 12. What is mean by *or+s"ace? 13. What is mean by *or+ (olume? 14. What is meant by *or+ en(elo"? 15. What is meant by a accuracy of robot? 16. What is meant by "ay load ca"acity of robot? 17. What is meant by "recision of robot? 1!. What is re"eatability of robot? 1#. What is meant by ,uality of robot? 2%. -lassify the motion control of Robot arm? 21. What are the .ubsystems of industrial robot? 22. What is meant De rees /f 0reedom?
23. 1o* much encoder need for measure 45 de ree of freedom? 24. What are the 'd(anta es and disad(anta es of robot? 25. What are the limitations of robot?

PART B Questions (16

ar!s)

1. a2 Define a robot. With hel" of s+etch describe "itch3 ya* and roll motion of a robot *rist.

b2 Discuss the ori in and (arious enerations of robots. .+etch and e4"lain the *or+ en(elo"e of a cylindrical robot. 2. a2 Define the terms accuracy and cycle time in relation to a robot. .+etch and e4"lain the 5oints and de ree of freedom of a 5ointed arm robot. b2 Differentiate bet*een o"en loo" and closed loo" ser(o systems. With the aid of dia rams e4"lain the *or+in "rinci"le of directional control and flo* control (al(e. 3. a2 -om"are the (arious attributes of robot *ith those of human bein . 64"lain a robot structure *ith a s+etch. b2 What are the (arious ty"es of 5oints used in robots? .+etch the follo*in robots indicatin the 5oints and de ree of freedom. i2 .-'R' robot. ii2 7antry robot. 4. a2 1o* do you s"ecify a robot? 8s robotics automation? Discuss the different classification systems of robots. b2 Discuss the differences bet*een ser(o controlled and non9ser(o controlled robots. .+etch and e4"lain the ser(o control system for "oint to "oint "ositionin . 5. a2 Define a robot. 8s robotics an automation? Discuss the (arious ty"es of 5oints used in robots. b2 Discuss the (arious enerations of robots. .+etch and e4"lain the ty"ical confi uration and de rees of freedom of *rist assembly. 6. a2 What is the *or+ en(elo"e of a robot3 .+etch and e4"lain t*o (ie*s to indicate the *or+ en(elo"e of a i2 -artesian robot. ii2 :olar robot. b2 64"lain the conce"t of accuracy and re"eatability of a robot. What are the different confi urations of robots? Which of these confi urations *ould be most suitable for i2 :lacin an ob5ect in an o(en for heat9treatment. ii2 :aintin a motor car body. 7. a2 What do you understand by de ree of freedom;D/02? 1o* many D/0s are re,uired to "osition an end effector at any "oint in 39D s"ace? b2 What is the *or+ en(elo"e of a robot s+etch and e4"lain t*o (ie*s to indicate the *or+ en(elo"e of a i2 -ylindrical robot. ii2 'nthro"omor"hic robot. !. a2 What are the basic com"onents of a robotic system? 64"lain the functions of each of the com"onents *ith a neat s+etch. b2 .tate the la*s of robotics and discuss the (arious mechanical desi n considerations of robots. #. Write short notes on any about the follo*in a2 Dynamic stabili<ation of robots b2 'simo()s la*s of robotics. c2 De rees of freedom.

UNIT- II PO"ER SOURCES AN# SENSORS

Part A Questions (2 MARKS) 1. Name the im"ortant "arts of harmonic dri(e? 2. .tate the ad(anta es and limitation of a hydraulic dri(e? 3. What are the ty"es of hydraulic actuator? 4. What are the ty"es of encoder? 5. What is frame rabber? 6. What is the common ima in de(ice used for robot (ision system? 7. What is "i4el? !. What is the frame of the (ision data? #. What is se mentation? 1%. What is thresholdin ? 11. What is re ion ro*in ? 12. What are the functions of machine (ision system? 13. What is a""lication of machine (ision system? 14. What is sensor? 15. What is transducer? 16. What are the basic classifications of sensors? 17. What are the desirable features of sensors? 1!. What is the tactile sensor? 1#. &ist the different ty"e of tactile sensor?

2%. What is touch sensor? 21. &ist the com"onent of the force *rist? 22. What is a tactile array sensor? 23. What is the "ro4imity sensor? 24. What are the classifications of a "ro4imity sensor? 25. What is a ran e sensor? 26. What is a (oice sensor? 27. What is a (ision sensor? 2!. What is "otentiometer? 2#. What is ins"ection? 3%. What is meant by ,uantisation? 31. What is meant by encodin ? 32. What is meant by sam"lin ? 33. What are the basic li htin de(ices? 34. What are the "hases of '=D con(ersion? 35. What are the (arious techni,ues in ima e "rocessin > analysis? 36. What is meant by ima e data reduction? 37. What are the schemes in(ol(ed in ima e data reduction? 3!. What is meant by *indo*in ? 3#. What is by di ital con(ersion? 4%. What is meant by se mentation? 41. What are the techni,ues in(ol(ed in se mentation? 42. What is meant by thersholdin ? 43. What is meant by re ion ro*in ? 44. What is meant by ed e detection? 45. What is meant by feature e4traction? 46. What are the techni,ues used in ob5ect reco nition? 47. What is meant by tem"late matchin techni,ue? 4!. What is meant by structural techni,ue?

4#. What are the electrical Dri(es in ?ani"ulators 5%. -lassified different ty"es of ste""er motor? PART B Questions (16 ar!s)

1. a2 What are the merits and demerits of mo(in coil dc motors. .+etch and e4"lain the *or+in of ste""er motors. b2 What is "attern reco nition? Describe a sensin de(ice to enerate the contour "icture of a *or+ "iece. 2. a2 What is robot (ision? Describe a (ision sensor used to ta+e the ima e of an ob5ect. b2 Discuss res"onse3 accuracy and sensiti(ity in relation to robot sensors. 64"lain the *or+in of "ro4imity and ran e sensors. 3. a2 Distin uish bet*een shunt *ound motor and series *ound motor. .+etch and e4"lain the "rinci"le of o"eration of ste""er motor. b2 Distin uish bet*een tactile and non9tactile sensors. .+etch and e4"lain the *or+in of an acoustic sensor. 4. a2 -om"are ste""er motor and D.-. motor dri(es for a robot. .+etch and e4"lain a hydraulic dri(e system used for robots. b2 ' ste""er motor is used to dri(e a linear a4is of a robot. @he motor is connected to a scre*ed shaft ha(in a sin le start thread of "itch 2.5 mm. @he resolution desired for the controlled motion is %.5 mm. DetermineA i2 .te" an les that are re,uired on the motor to obtain the resolution. ii2 :ulse rate re,uired to dri(e the a4is if the (elocity is !% mm=s. 5. a2 What is "attern reco nition? $riefly describe a sensin de(ice to enerate the contour "icture of a *or+ "iece. b2 What are the different ty"es of sensors? -lassify them. .+etch and e4"lain the use of a "ro4imity sensor. 6. a2 What are the ad(anta es of hydraulic actuator systems o(er electrical motors? .+etch and e4"lain a "neumatic "o*er dri(e used for robots. b2 What are the functions of sensors? 1o* do you sense the "ositional accuracy of a robot? Describe the suitable ty"e of sensor used to measure the "osition. 7. Write short notes on any about the follo*in a2 1ydraulic dri(es. b2 ?achine Bision. c2 @actile sensors.