DEPARTMENT OF MECHATRONICS ENGINEERING

CLASS : II YEAR MCT “A & B”

SUBJECT : 23MT406 - ROBOTIC SYSTEMS ENGINEERING
STAFF NAME : Dr. L. FEROZ ALI & Dr. R. GOPINATHAN
Module – I

2 Mark Questions with Answers

Q. No Question with Answer Source

1 Define a Robot?
RIA defines a robot as a “programmable, multifunction manipulator IIT,
designed to Move materials, parts, tools or special devices through variable Kharagpur
programmed motions for the performance of the variety of task”.
2 What is mean by automation?
Automation is a technology that is concerned with the use of electronic
Text book
mechanical and computer-based system in the operation control and
production.
3 What is a robot?
Robot is an
➢ Electro-mechanical device
Text book
➢ Perform various task
➢ May be human controlled or automated.
➢ It finds its uses in all aspects of our life
4 What are the rules of robot?
➢ Do not harm any person or living beings
Text book
➢ Obey human being / obey the orders given to it
➢ Protects itself from harm.
5 Why a robot used?
a. To reduce production cost
➢ Fast Text book
➢ Accurate
➢ Difficulties in human nature
b. To avoid 3-D jobs
➢ Dirty
➢ Dangerous
➢ Difficult
6 What is meant by robot anatomy?
Robot anatomy means study of structure of robot. Manipulator is Text book
constructed of a series of joints & links. A joint provides relative motion
 between the input link and the output link. Each joint provides the robot
with one degree of freedom.
7 Name the commonly used robot configuration system?
The commonly used robot configuration systems are
➢ Cartesian coordinate system
Text book
➢ Cylindrical coordinate system
➢ Polar or spherical coordinate system
➢ Revolute coordinate system
8 What is mean by workspace?
The space in which the end point of the robot arm is capable of operating is NIT,
called as a workspace in other words reachability of robot arm is known as Calicut
workspace.
9 What is mean by work volume? NIT,
The volume of the space swept by the robot arm is called work volume Calicut
10 What is meant by work envelop? NIT,
The work envelop is described by the surface of the workspace. Calicut
11 What is meant by an accuracy of robot?
NIT,
The robot’s ability to reach a reference point within the robot’s full work
Calicut
volume is known as accuracy of robot.
12 What is meant by pay load capacity of robot?
NIT,
The maximum load which can be carried by the manipulator at low or
Calicut
normal speed
13 What is meant by precision of robot? NIT,
It is the smallest increment of motion for which the robot can be controlled Calicut
14 What is repeatability of robot?
NIT,
Repeatability refers to robot’s ability to return to the programmed point
Calicut
when it is commanded to do so.
15 What is meant by quality of robot? NIT,
A robot is said to be high quality when the precision and accuracy is more Calicut
16 What is meant Degrees of Freedom?
It is described as one of the variables required to define the motion of a NIT,
body in space. Each joint in a robotic system gives the robot one degree of Calicut
freedom.
17 Name the important parts of harmonic drive?
The important parts of harmonic drive are
➢ Rigid circular spline with internal teeth Text book
➢ Flex spline with external teeth
➢ Elliptical wave generation
18 State the advantages and limitation of a hydraulic drive?
Advantages
➢ It gives greater speed and strength
➢ It gives highest power to weight ratio
➢ It is used for heavy pay loads Text book
➢ 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.
Disadvantages
 ➢ It occupies more space
➢ Maintenance should be done regularly
19 What are the types of hydraulic actuator?
The types of hydraulic actuators are
• Linear hydraulic actuator
I. Single acting cylinder
II. Double acting cylinder
Text book
III. Double acting double rod cylinder
• Hydraulic rotary actuator
I. Gear motor
II. Vane motor
III. Piston motor
20 List out the functions of grippers
❖ To grasp and hold object
NIT,
❖ Machine Loading and unloading
Calicut
❖ Pick parts from conveyor
❖ Arrange parts on to a pallet
21 Classify the different types of Mechanical grippers according to the
actuation of kinematic device.
– Linkage Actuation
NIT,
– Gear – and - rack actuation
Calicut
– Cam actuation
– Screw actuation
– Rope - and Pulley - actuation
22 Outline the concept of Vacuum Cups.
– Also called suction cups
– Handled certain types of objects like flat, smooth, clean etc.
– Made of elastic material such as rubber or soft plastic. NIT,
– The vacuum pump and venturi are the two devices used for this Calicut
purpose.
– The lift capacity of the suction cup depends on the effective area of
the cup and the negative air pressure between the cup and the object.
23 List the advantageous of magnetic grippers.
• Very fast pick up time
• Part size can be tolerated NIT,
• The gripper does not design for one particular work Calicut
• Ability to handle metal parts with holes
• Require only one surface for gripping
24 Enumerate the different types of powers used in grippers.
– Pneumatic
NIT,
– Electric
Calicut
– Mechanical
– Hydraulic
25 Write the equation for gripping force of two finger gripper
Text book
𝑊 = 𝐹𝑔 𝑛𝑓 𝜇
➢ 𝜇 – coefficient of friction
 ➢ 𝑛𝑓 - number of contact fingers -- 2
➢ 𝐹𝑔 - gripper force
➢ 𝑊 – weight of the object
26 Write the disadvantage of magnetic gripper.
1. Residual magnetism in the work piece Text book
Cannot pick a single sheet from a stack
27 Sketch the bladder type gripper

Text book

28 List the different types of tools used in robotic application.

➢ Arc welding
➢ Spray painting
➢ Spot welding Text book
➢ Drilling
➢ Grinding
➢ Wire brushing
29 List the motions in grippers can actuate the opening and closing of
fingers.
Text book
1. Pivoting movement
2. Linear or translational movement
30 List the consideration in Gripper selection.
• Part surface should be reachable
• Size variation of the parts must be accounted
• Scratching and distorting the part during gripping
Text book
• Replaceable fingers
• Self-aligning fingers
• Grasping Force
• Speed and acceleration of the robot arm
31 What do you mean by End effector?
End effector is a part of robot that is used to perform a specific work task QP-2018
and write its classification.
32 Which part of robot is used to perform a specific work task and write
its classification?
End effector
Text book
Classification of end effector
i. Grippers
ii. Tools
33 Classify the different robot motions.
Text book
The different robot motion are:-
 a. Linear joint (type L)
b. Orthogonal joint (type O)
c. Rotational joint (type R)
d. Twisting joint (type T)
e. Revolving joint (type V)
34 Enumerate the different types of robot controls.
The four types of robot controls categories are: -
a. Limited sequence robots
Text book
b. Playback robot with point-to-point control
c. Playback robot with continuous path control
d. Intelligent robots
35 Classify the different types of drive systems in robotics.
The different types of drive system are: -
a. Hydraulic Drive Text book
b. Electric Drive
c. Pneumatic Drive
36 The opening and closing of a gripper is not considered as a degree of
freedom, and then how will you define degree of freedom?
Text book
The individual joint motions associated with the performance of a task are
referred to by the term Degree of Freedom (DOF).
37 Discover the type of gripper required to handle tiles in an industry SKCET
Vacuum Gripper Sem Exam
38 Find the maximum weight of the component that can be gripped by a
three fingered gripper if the coefficient of friction between component NIT,
and gripper pad is 0.2. Consider the gripping force as 200 N. Calicut

39 Infer the concept of pitch, yaw and roll.

Rotation around the front-to-back axis is called roll. Rotation SKCET
around the side-to-side axis is called pitch. Rotation around the vertical axis Sem Exam
is called yaw.
40 Distinguish between SCARA and articulated robot configurations.
Most SCARA robots consist of four axes; however, some have three axes.
NIT,
Fewer axes mean the FANUC SR-6ia along with other SCARA robots are
Calicut
simpler to control as there are fewer motors to program. Articulated robots
can have three or more axes.
41 Construct the diagram of the screw actuated gripper.

NIT,
Calicut
 8 MARKS / 16 MARKS

Q. No Question Source
1 What are the types of robots? Explain in details with neat sketches. NIT,
Calicut
2 Briefly explain the different types of robots. SKCET
Sem Exam
3 Distinguish the configuration of the Robot with neat sketches. SKCET
Sem Exam
4 Discuss robot motions with neat diagrams. NIT,
Calicut
5 Explain the main robot anatomy with neat sketch. SKCET
Sem Exam
6 Explain various industrial applications of robots. Text book
7 Explain robot parts and their functions with neat sketch NIT,
Calicut
8 Write short notes on joint notation Scheme. Text book
9 Write short notes on technical specification in robotics Text book
10 Explain in detail about various types of gripper mechanisms with neat SKCET
sketches Sem Exam

11 Explain in detail about special purpose grippers with neat sketches Text book
12 Explain in detail about tools as end effectors with neat sketches Text book
13 Discuss the concept of lead through programming SKCET
Sem Exam
14 Discuss various types of drive systems for a robot with neat sketches SKCET
Sem Exam