Form No:
GANADIPATHY TULSI’S JAIN ENGINEERING COLLEGE
Chittoor – Cuddalore Road, Kaniyambadi (Post), Vellore – 632102. GTEC/ACADEMIC/24
Department of Mechanical Engineering Rev No: 0
ORA351-FOUNDATION OF ROBOTICS
QUESTION BANK (LAST 5 Years)
UNIT-I FUNDAMENTALS OF ROBOT
PART-A
1 Mention the 3D jobs of robots A/M-2024
A/M-2024
2 What is a DDR? Give their advantage.
N/D-2023
3 What are the needs of robot? N/D-2023
4 How can you express the orientation of the spherical wrist in robots? A/M-2023
5 State the three laws of Robotics N/D-2022,2020
6 What is RIA definition of robots? N/D-2022
What are the factors that influence the speed of motion of robots in minimizing
7 N/D-2021
the lead times?
With neat sketches explain any two types of joints used in robots with their
8 N/D-2021
functions.
N/D-2020
9 Define work envelope in robotics.
A/M-2023
N/D-2020
10 What is meant by pay load capacity of robot?
A/M-2023
11 Differentiate accuracy and precision. N/D-2020
PART-B
1. With neat sketches explain the classification of robot based on Control. (7) A/M-2024
2. With neat sketches explain the classification of robot based on Generation (6) N/D-2023
3. With neat sketches briefly discuss the functions of various parts of a robot.(7) N/D-2022,2020
Briefly explain the influence of the following parameters in the performance of A/M-2024
4.
robot.(i)Centre of gravity (ii) Stability (iii) Precision of the robot.(iv) Accuracy.(13) N/D-2023,2022
A/M-2024,2023
Explain the configurations of robots with the joints making the configurations and
5. N/D-2023,2021,
the work volumes generated by the configurations of robots.(13)
N/D-2020
Explain with neat sketches the functional features that determine precision of
6. N/D-2021
movements of robots (i) Spatial resolution (ii) Accuracy (iii) Repeatability.(13)
Classify the different types of robots and discuss their envelopes with suitable N/D-2020
7.
sketches.(6) A/M-2023
8. Elaborate robot anatomy and robot motions with neat diagrams.(7) N/D-2020
9. Explain various parts of robot and their functions with neat sketches.(7) N/D-2020
.UNIT-II ROBOT KINEMATICS
PART-A
A/M-2024
1 Write the direct kinematic equation of a 3 DOF TRR configuration robot.
N/D-2022
A/M-2024,2023
2 Distinguish forward and inverse kinematics. N/D-2023,2021,
N/D-2020
3 Write the direct kinematic equation of a 3 DOF TRL configuration robot. N/D-2023
4 Write short notes on Trajectory generator. N/D-2022
5 Explain inverse kinematics N/D-2021
6 Infer the term “Manipulator dynamics” N/D-2020
PART-B
Derive the direct kinematics equation of SCARA robot using Denavit-
1. A/M-2023
Hartenberg transformation matrix.(13)
(i) In a TRR Configuration robot the length of links of L1 =38cm and L2 =[Link]
L1 and L2 are in making angle 420 and 880 [Link] XZ-plane and the base is N/D-2022
2. twisted at an angle of 280 [Link] X-axis. Find the end position of the robot. N/D-2023
(ii) Find the joint angles Ɵ1 and Ɵ2 of the two DOF robot having link lengths of A/M-2024
28cm and [Link] the end effector position is X=24cm,Y=14cm.(13)
Explain Homogenous coordinates and transformation matrix with the sub
3 N/D-2021
matrices of homogenous transformation matrix.(13)
Represent a 4-DOF manipulator in 3D and illustrate the configuration, position
4 N/D-2020
and angle of manipulator in three dimensions.(13)
PART-C
Derive the forward kinematics equation for 2 DOF RR configuration robot using
1 N/D-2021
D-H transformation matrix.(15)
Derive the forward kinematics equation for 3 DOF TRR configuration robot
2 N/D-2022
using D-H transformation matrix.(15)
UNIT-III ROBOT DRIVE SYSTEM AND END EFFECTORS
PART-A
1 How to select a gripper for your particular applications? A/M-2024
2 Write the working principle of stepper motor. A/M-2024
Write the end effectors used for the following applications.(a) Spot welding (b) Spray
3 N/D-2023
painting (c) Polishing (d) Glass cups.
A/M-2023
4 Write the salient features of a stepper motor?
N/D-2023
5 When will you prefer a mechanical gripper? A/M-2023
6 Distinguish between Hydraulic drives and Mechanical drives N/D-2022
7 How to select the tools for your particular applications? N/D-2022
8 Explain with a neat sketch the “Gear and rack” actuation gripper. N/D-2021
9 Write the difference between internal and external grippers by their applications. N/D-2021
10 List the factors to be considered in selecting the grippers N/D-2020
11 Identify the applications of hydraulic grippers N/D-2020
PART-B
With neat sketch explain the working principle of (i) cam actuated gripper (ii) external
A/M-2024
1
gripper.(13)
Discuss in detail the comparison of various drive systems.(13) A/M-2024
2
N/D-2023
With neat sketch explain the working principle of (i) Magnetic gripper (ii) Vacuum
3 N/D-2023
gripper.(13)
Sketch and explain the working of pneumatic drives used in robotics and compare them
4 A/M-2023
to electric drives with its applications.(13)
Discuss any how internal and external grippers are selected with the help of four
5 A/M-2023
applications each.(13)
With neat sketches explain the working principle of (i) Cam actuated gripper (ii)
6 N/D-2022
Vacuum gripper.(13)
Explain the working principle, construction, applications, advantages and N/D-2022
7
disadvantages of stepper motor.(13) N/D-2021
8 Explain the different types of electrical drives used in robots with neat sketches.(13) N/D-2020
Explain the different types of end effectors used in robotics and their applications with N/D-2020,
9
neat sketches.(13) N/D-2021
.
UNIT-IV SENSORS IN ROBOTICS
PART-A
A/M-2024
1 Define pneumatic position sensor.
N/D-2023
2 Identify two applications of optical encoders. A/M-2023
3 How are the images segmented in machine vision? A/M-2023
4 Define pressure sensors. N/D-2022
A/M-2024
5 List out various lighting techniques used in machine vision system.
N/D-2022,2023
6 What type of touch sensors are used in mobiles? N/D-2021
7 Explain: Pixels in image capturing. N/D-2021
Explain with examples where machine vision system can be used in real time
8 N/D-2021
applications in robotic industries.
9 List the requirements of a sensor N/D-2020
10 Summarize the safety considerations for robot operations. N/D-2020,2022
PART-B
With a neat sketch explain how image is processed and analyzed in the robot A/M-2024
1
vision system.(13) N/D-2023
2 With sketches explain the following safety considerations of robots.(7) A/M-2024
Describe any three common algorithms used in image processing and identify
3 A/M-2023
their salient features.(13)
Explain the working principle, construction, applications, advantages and A/M-2023,2024
4
disadvantages of LVDT.(13) N/D-2022,2023
Explain the following with suitable applications (i) Touch sensors (ii) Object
5 N/D-2022
recognition.(13)
Explain the working principle of charge coupled device used in obtaining a
6 N/D-2021
digitized image for machine vision system.(13)
Explain with a neat sketch the working principle of a liquid sensing proximity
7 N/D-2021
sensor and its other applications.(13)
8 Illustrate the principle, construction and working of optical encoders.(13) N/D-2020
Illustrate the principle, construction and working of (i) Piezo electric sensor (ii)
9 N/D-2020
Position sensor.(13)
Illustrate the various hardware’s their functions and operations of machine
10 N/D-2020,2021
vision systems with a neat layout.(13)
PART-C
Explain the image processing and analysis of vision system in identifying the
1 N/D-2021
symptoms of COVID 19 patients entering a shopping mall.(15)
Explain with sketches the phases of machine vision system that can be
2 N/D-2021
implemented in protecting/avoiding ATM robbery.(15)
UNIT-V PROGRAMMING AND APPLICATIONS OF ROBOT
PART-A
1 Write the limitations of manual programming in robotics. A/M-2023
PART-B
Explain the following (i) Manual lead through programming. (ii) Second
1 A/M-2024
generation languages.(13)
Explain the following (i) Teach pendant programming. (ii) Robot programming
2 N/D-2023
languages.(13)
Consider an example of a tool as a robot end effector, discuss six commands
3 A/M-2023
used in VAL and explain their structure.(13)
4 Explain VAL programming.(6) N/D-2022
Explain the robot language structure to coordinate all the robotic system without
5 N/D-2021
lag.(13)
Classify the different types of robot programming languages and explain their
6 N/D-2020
salient features.(13)
PART-C
Discuss a case study about applications of robots in Agriculture with suitable
1 A/M-2024
example.(15)
Discuss a case study about applications of robots in Biomedical with suitable
2 A/M-2024
example.(15)
Discuss a case study about applications of robots in manufacturing and
3 N/D-2023
assembly with suitable example.(15)
Discuss a case study about applications of robots in surgery with neat N/D-2023,
4
sketch.(15) A/M-2023
5 Discuss a case study about applications of robots in surgery with example.(15) N/D-2022
Write a program to instruct the robot to pick up bottles from a fixed location on a
6 conveyor and insert them into a cardboard cartoon. Assume necessary N/D-2020
dimensions and other parameters.(15)