2016/2017 Session

Q1 a. Define Robotics
Robotics is the branch of technology that deals with the design, construction, operation, and
application of robots, as well as computer systems for their control, sensory feedback, and
information processing.

1b. Give the RIA definition of a robot

A robot is a programmable multifunction manipulator designed to move material, parts, tools,
or specialized device through variable programmed motion for the performance of a variety of
tasks.

1c Give the more convenient and broad definition of a robot.

A robot is a device that operates with some degree of autonomy, usually under computercontrol.
1d. Explain the robot generation. Give example of each generation.
Robots can be categorized in to three generations:
[Link] generation robots
[Link] generation robots
[Link] generation robots

[Link] Generation Robots:First-generation robots are simple mechanical arms. These robots
did not possess sensors and all control was through an open-loop controller system. Hence the
operation of these machines must be constantly supervised, because if they get out of alignment
and are allowed to keep working, the result can be a series of bad production units.
Example of first generation robot is Unimate.

2. Second Generation Robots:Second-generation robot can adapt varying situations by the use
of sensors and closed loop servo controllers. The controller processes the data from these sensors
and adjusts the operation of the robot accordingly. Although these robots may know when
something is wrong in the system, but they required human intervention for correction.
Examples of seconds generation robots are today’s industrial robots

3. Third Generation Robots: Third-generation robots are fully autonomous. They are equipped
with vision system, better mobility systems and more intelligent microprocessors coupled with
voice recognition system. These robots are capable of making decisions and making corrections
or adjustments to manipulators.
Examples of third generation robots are Mars rovers
Q 2a. Briefly explain the construction of a robotic manipulators
A robotic manipulator or robotic arm is an industrial robot that function similar to human [Link]
consists of rigid links interconnected by flexible [Link] links manipulator corresponds to
chest, upper arm and fore arm in human arm. The joints correspond to shoulder, elbow, and
wrist.

At the end of the manipulator is an end effector. A wrist connects end effector and fore [Link]
end effector can be a tool or a [Link] are used where an operation such as welding,
painting or drilling need to be [Link] shapes and types are numerous and varied.
Grippers are used to grasp and hold an object and place it at a desired location.
Grippers are basically classified as mechanical, magnetic, and pneumatic/vacuum

2b. Explain the operation of the basic classes of robotic grippers

[Link] gripper: The mechanics of a gripper is that the gripper fingers close against the
object with sufficient mechanical force to hold the object firmly against gravity and movement
forces. The force should not however be too severe and cause damage to the component. The
grippers may be powered by servos, pneumatic or hydraulic power. Mechanical grippers may not
always be suitable for handling some components due to their size or delicacy.

2. Magnetic gripper: Magnetic grippers are used to handle ferrous material. The gripper may be
electromagnetic or permanent magnet. The electromagnetic can pick and release object by
switching on and off the magnet. Using a permanent means that the object cannot be simply
dropped from the magnet, it must be slid off using a pneumatic piston.

However, using permanent magnet there is reduced risk of sparking because no electrical power
is used, this makes these types of gripper more suited in certain hazardous environments.

3. Pneumatic gripper: Pneumatic gripper consist of circular vacuum or suction cups made from
plastic or rubber form pneumatic grippers. The cups press against the object to be lifted and the
air drawn out by means of a pump, creating a plunger effect. This suction force allows the object
to be lifted.

The weight and center of gravity of the object determines the number of suction cups to be used.
To allow for an effective suction the object to be lifted must have a relatively smooth, flat and
clean surface.

Releasing of the part once it reaches its destination simply means neutralizing the vacuum and
allowing air into the suction pads.
Q4. Explain the difference between proprioceptive and extroceptive sensors.
Robotic sensors can be classified as:
Proprioceptive (Internal state sensors);

Exteroceptive (External state sensors)

Proprioceptive sensorsmeasure values internally to the system (robot), e.g. battery level, wheel
position, joint angle, etc. These sensors include potentiometers; tachometers; optical encoders;
accelerometers, gyroscopes etc.

Exteroceptive sensors: monitors the relationship between the robot kinematics and/or dynamics
with its task, surrounding, or the objects it manipulated. Exteroceptive sensors are classified as
contact and noncontact sensors. Contact sensors sense through [Link] sensors sense
the presence of an object without contact.

Q4b. classify the following sensors as proprioceptive and extroceptive: potentiometer,

tachometer, optical encoder, accelerometers, Gyroscope, infrared sensors, ultrasonic
sensors
Proprioceptivesensors: potentiometers; tachometers; optical encoders; accelerometers,
gyroscopes etc.
Exteroceptive sensors: infrared sensors, ultrasonic sensors

Q4c. briefly explain the function of the following sensors: tactile sensors, proximity sensors,
vision sensor, speech sensors and range sensors.
 Tactile sensors – Detect the presence of an object by touching the object.
 Proximity sensors – sense the presence of nearby objects relative to another object by
induction capacitance, light/sound reflection or eddy current.
 Vision sensors – enables robots to see an object or it’s surrounding.
 Range sensors – use for distance measurement.
 Speech sensors – enables robot responds to spoken words.
Q4d. Briefly explain the working procedure of infrared light sensors in distance
measurement.
The working Procedure is:
Send light and start a timer (t1 = 0 sec)
Wait for reflected light, and stop timer (t2 = 12 sec)
Calculâtes the time différence (t1 – t2 = 12 sec)
Use time difference to calculate distance (distance = speed of light * time)

Q4e. with the aid of example, state the difference between passive and active sensors
• Passive sensors does not require external power source - egthermocouple.
• Active require external power source to operate – egoptical encoder.

Q5a. Explain the function of the components of a basic hydraulic system

• Ans:The pump pumps the fluid at a high pressure.
• The valves controls and regulates the direction of the flow of the high-pressure fluid.
• The reservoir stores the hydraulic fluid.

• The hydraulic actuator coverts the fluid energy (the high-pressure fluid send by the
control valves) in to mechanical energy (motion).

• The filter removes minute particles from the fluid, which may cause blocking of the
orifices of valves.

Q5b. State the four advantages of hydraulic drives

– It gives greater speed and strength
– It gives highest power to weight ratio
– It is used for heavy pay loads
– 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 (explosive) environment.

Q5c. State the advantages and disadvantages of using transmission mechanism in robotics
Advantages:
– Power can be transmitted at distance
– Speed can be reduced and torque increased

– Character of motion can be changed from the input to the output of the
transmission system:
• Rotation to Translation
 • Translation to Rotation
Disadvantages:

– Complicates the robots design (thus increasing cost)

– Introduces backlash (which leads to lower accuracy when positioning some
objects)
– Introduces friction (which leads to low efficiency)
– Introduces elastic deformation (leads to undesired oscillations)

Q5d. State the benefits and challenges of using direct electric drives in robotics
Benefits:
• Design eliminates the use of transmission linkage, hence reduced cost.

• It also eliminates the problem backlash, friction and compliance due to transmission
linkage thus makes the robot more efficient.
Challenges:

• However, this drive design is limited to rotary motion only and the dynamics of the
actuators may be much more complex.

gkddQ6a. Explain the two kind of stability in legged robots

There are two kinds of stability: static and dynamic.

A statically stable robot can stand still without falling over. This is a useful feature, but a
difficult one to achieve it requires that there be enough legs/wheels on the robot to provide
sufficient static points of support.

A Dynamic stability which allows a robot (or animal) to be stable while moving. For example,
one-legged hopping robots are dynamically stablethey can hop in place or to various
destinations, and not fall over. But they cannot stop and stay standing (this is an inverse
pendulum balancing problem).

Q6b. Give the advantages and disadvantages of each kind

Advantages of Statically stable:
• It is very safe, it is fast, and it is easy
Disadvantages,
It is very slow and energy inefficient.
Advantages of Dynamic
they can hop in place or to various destinations, and not fall over.
Disadvantages
they cannot stop and stay standing

Q6c. classify the following robots according to their applications: robotic vacuum cleaner,
surgical robot, reconnaissance drones, mars rovers, line follower.
Robotic vacuum cleaner: Domestic robot
Surgical robot: Medical robot
Reconnaissance drone: Military robot
Mars Rovers: space robot
Line follower: Hobby and competition robots

Q6d. State Asimov’s law

Isaac Asimov devised three Laws of Robotics (often shortened to The Three Laws or Three
Laws). The rules were introduced in 1942. The Three Laws are:
1. A robot may not injure a human being or, through inaction, allow a human being
to come to harm.

2. A robot must obey the orders given to it by human beings, except where such
orders would conflict with the First Law.

3. A robot must protect its own existence as long as such protection does not conflict
with the First or Second Law.

Q6e. list any three (3) advantages of using industrial robot

 Reduced labor cost (Low energy cost).
 Increased Productivity (Increase output rates).
 Improved product quality.
 Increase precision (Reduced material wastage).
 Increased manufacturing flexibility (as compared to specialized machines).
 Elimination of dangerous or undesirable jobs.
 Easier to compliance with standard regulations.
 Reduced labor turnover.
 Lower capital cost.
  Controlled and faster inventory turnover

2013/2014 Session
Q1b. Briefly explain the three components of robot
1. A mechanical device, such as a wheeled platform, arm, or other construction,
capable of interacting with its environment.
2. Sensors on or around the device that are able to sense the environment and give
useful feedback to the device.
3. Systems that process sensory input in the context of the device’s current situation
and instruct the device to perform actions in response to the situation.

Q1d. Briefly explain the maximum number of independent degrees of freedom a robit
manipulator can have
Normally, a robot consists of a maximum of six independent degrees of freedom that is 3 for
positioning and 3 for orientation.

Q3c. With the aid of sketches, briefly explain the sequence of support pattern provided by
feet of a quadruped walking for each static stability.
Body and legs move to keep the projection of the center of mass within the polygon defined by a
[Link] vertex is a support foot., and Dot is the projection.

Q3d. What are the primary advantages of legged mobile robots?

 Their ability to transverse rough terrain with good body stability and
 Minimal ecological damage.
Q4a. The use and popularity of pneumatics drive robots are limited. Why?
They are difficult to control and have a poor dynamic performance compared to hydraulic-drive
Q4d. List five commonly transmission mechanism in robotics.

 Gears
 Toothed rack-and-pinion
 Recirculating ball nut and screw
 Tooth belts
 Chains
Q4e. Briefly explain the two types of electric drives that are used in robotics.
Electric drives can either be direct-drives, or Non-direct drives
Direct drives are the ones in which the motors actuate the robots without a transmission linkage.

Non-direct drives are the ones in which the motor actuates the robots’ joint via a transmission
mechanism such as gears.

Q5a. Briefly explain the two common driving configurations of wheeled mobile robots
Two driving configurations are mostly used in today’s wheeled mobile robots – steer drive and
differential drive.

The steer drive mobile robot uses two driving wheels to make the robot move forward and
backward, and the orientation control is achieved by an independent steering mechanism. Since
the driving action is independent of the steering action, the motion control of the robot is
simplified. However, due to physical constraints, this configuration cannot turn in a very small
radius. This shortcoming makes it less attractive in some industrial applications.

Differential drive mobilerobots have two independent driving wheels positioned at opposite
sides of the robot base, arranged in parallel to one another, in which their speed can be controlled
separately. Thus, by appropriately controlling the speed of each driving wheel, this mechanism is
able to drive the robot forward and backward, as well as steer its heading angle by differential
speed commands, even though this configuration requires complex control strategy than the steer
drive configuration, its capability of making small-radius turn, even making turns on the spot,
makes it the first choice in many industrial applications.

Q5b. State the Advantages and Disadvantages of each configuration.

Advantages of steer drive:

 the driving action is independent of the steering action

 motion control of the robot is simplified
Disadvantages of steer drive:

 It cannot turn in a very small radius.

Advantages of differential robot
Its ability of making small-radius turn in many industrial applications.
Disadvantages of Differential robot
Its configuration requires complex control strategy

Q5d. What are actuators?

Actuators are devises that makes robot move

Q6a. list the basic types of power sources that are used for actuators of robots.
Three basic types of power sources that are used for actuation of robots:

 Hydraulic drives

 Pneumatic drives

 Electric drives

Q6b. briefly explain the three main types of hydraulic actuators

There are two main types of hydraulic actuators:

 Hydraulic cylinders- for linear motion

 Hydraulic motors - for rotary motion

Q6c. list any six (6) categories of industrial robot

 Cartesian
 Cylindrical
 Polar
 SCARA,
 Articulated and
 Parallel