JEPPIAAR ENGINEERING COLLEGE

Jeppiaar Nagar, Rajiv Gandhi Salai – 600 119

DEPARTMENT OFMECHANICAL ENGINEERING

QUESTION BANK

VII SEMESTER

ME6010 – ROBOTICS

Regulation – 2013
 JEPPIAAR ENGINEERING COLLEGE
Jeppiaar Nagar, Rajiv Gandhi Salai – 600 119
DEPARTMENT OF MECHANICAL ENGINEERING

QUESTION BANK
SUBJECT : ME6010– ROBOTICS
YEAR /SEM: IV /VII

UNIT I FUNDAMENTALS OF ROBOT

Robot – Definition - Robot Anatomy - Co ordinate Systems, Work Envelope Types and
Classification – Specifications - Pitch, Yaw, Roll, Joint Notations, Speed of Motion,
Pay Load - Robot Parts and their Functions - Need for Robots -Different Applications
PART – A
CO Mapping : C706.1
Q.No Questions BT Competence PO
Level
1 Define a Robot? BTL-1 Remembering PO2,PO3

2 Define automation? BTL-1 Remembering PO1,PO4,PO12

3 List out the types of automation? BTL-1 Remembering PO2,PO4

Mention the benefits of industrial automation

4 BTL-5 Evaluating PO2,PO3
systems?
5 What is meant by Robotics? BTL-1 Remembering PO1,PO2

What are the rules of Robotics? Write any

6 BTL-1 Remembering PO1,PO2
two laws of robotics.
7 Why are robots used? BTL-1 Remembering PO1,PO3

8 What is meant by Robot anatomy? BTL-1 Remembering PO1,PO2

9 List out the types of joint notation? BTL-1 Remembering PO1,PO2,PO3
10 Mention the classification of robots? BTL-1 Remembering PO1,PO3

11 What are the benefits of industrial robots? BTL-2 Understanding PO1,PO2,PO12

Name the important specifications of an

12 BTL-1 Remembering PO2,PO3
industrial robot.
13 What is meant by accuracy of robot? BTL-1 Remembering PO1,PO3

14 What is repeatability of robot? BTL-1 Remembering PO1,PO2

15 What is meant by resolution (precision)? BTL-1 Remembering PO1,PO2,PO12
16 List out the types of path control? BTL-1 Remembering PO1,PO2

17 List out the robot major components? BTL-1 Remembering PO1,PO3,PO4

18 What are the types of robot movements? BTL-1 Remembering PO1,PO2

19 What is meant by pitch, yaw and roll? BTL-1 Remembering PO1,PO12

What is work volume? What is meant by

20 BTL-1 Remembering PO1,PO2
Work space?
21 Define the term work envelop. BTL-1 Remembering PO1,PO2,PO12

22 What is meant by Quality of robot? BTL-5 Evaluating PO2,PO12

What are the three degrees of freedom

23 BTL-1 Remembering PO1
associated with the arm and body motion?
24 Define an Industrial Robot. BTL-1 Remembering PO1,PO12

25 Define payload capacity of Robot. BTL-1 Remembering PO1,PO12

26 Define base and tool Coordinate system? BTL-2 Understanding PO1,PO8,PO11

What are the four basic robot configurations

27 BTL-2 Understanding PO2
available commercially?
What is meant by palletizing and Analyzing
28 BTL-4 PO2
depalletizing?
What are the factors to be considered while
29 BTL-1 Remembering PO1
selecting the robot?
30 What are the disadvantages of robots? BTL-1 Remembering PO1,PO3

PART – B & C
Explain any five work envelop of a robot with BTL-1 Remembering PO1,PO2,PO4
1
suitable diagram and mention its applications.
Describe the important specifications of a robot and BTL-5 Evaluating PO1,PO2,PO3
choose a suitable robot configuration for transferring ,PO11
2
200 gram aluminium rod of 150 mm length. Give
your justification.
(i)Sketch a robot wrist and indicate wrist pitch, wrist BTL-5 Evaluating PO1,PO2.PO3
yaw and wrist roll. (or) Sketch and explain 3 DOF ,PO12
3
associated with wrist (ii)Explain about major parts of
a robot with their functions.
(i)Discuss about the need for Robots (ii) Present a BTL-1 Remembering PO1,PO2,PO4
4 brief survey on how robots are applied in inspection ,PO11
work.
Explain any four basic robot configurations with BTL-5 Evaluating PO1,PO2,PO4
,PO12
5 neat sketches and narrate individual merits,
demerits and applications.
Write short notes on the following: (i) Types of robot BTL-6 Creating PO1,PO3,PO1
6 1,PO12
controls (ii) Spatial resolution (iii) Repeatability.
 UNIT II ROBOT DRIVE SYSTEMS AND END EFFECTORS
Pneumatic Drives - Hydraulic Drives - Mechanical Drives - Electrical Drives - D.C. Servo Motors,
Stepper Motors, A.C. Servo Motors - Salient Features, Applications and Comparison of all these
Drives, End Effectors – Grippers - Mechanical Grippers, Pneumatic and Hydraulic - Grippers,
Magnetic Grippers, Vacuum Grippers; Two Fingered and Three Fingered Grippers; Internal Grippers
and External Grippers; Selection and Design Considerations.

PART – A
CO Mapping : C706.2
Q.No Questions BT Competence PO
Level
1 What is an actuator? BTL-1 Remembering PO1,PO3

What are the factors which must be

2 considered while choosing the drive system BTL-1 Remembering PO1,PO2

for robots?
List the advantages and dis-advantages of
hydraulic drive? (or) Which type of drive
3 BTL-1 Remembering PO1,PO2
system is more suitable for heavy load robot
application?
List the advantages and disadvantages of
4 BTL-1 Remembering PO1,PO2,PO3
pneumatic actuators?
List the advantages and dis-advantages of
5 BTL-1 Remembering PO1,PO2
Electricalactuator?
Enumerate the difference bet. Open loop and
6 BTL-1 Remembering PO1
closed loop control system?
What are the elements of the closed loop
7 BTL-1 Remembering PO1
control system ?
What is a stepper motor? What are the
8 BTL-1 Remembering PO1
different types of stepper motor?
What are the advantages and disadvantages of
9 BTL-1 Remembering PO1,PO2
Stepper motor?
10 What are the characteristics of servomotor? BTL-1 Remembering PO1,PO2

11 Compare the AC and DC servomotors? BTL-1 Remembering PO1,PO2

Write about various types of motion

12 BTL-1 Remembering PO1
convention?
13 Write about the balls screw? BTL-1 Remembering PO1

Why servomotors are preferred with stepper

14 BTL-2 Understanding PO1,PO2
motor in robot applications?
15 What are the parts used in harmonic drive? BTL-1 Remembering PO1
 Define End effector. Give some examples of
16 BTL-1 Remembering PO1,PO2,PO6
Robot End Effector.
What is meant by Gripper? What are the
17 BTL-3 Applying PO1,PO2,PO3
types of grippers?
18 List out the gripper design considerations? BTL-3 Applying PO1,PO2

What is the difference between internal

19 BTL-1 Remembering PO1,PO11,PO12
grippers and external grippers?
20 What are the types of Mechanical Grippers? BTL-1 Remembering PO1,PO2

21 List any two limitations of magnetic grippers. BTL-3 Applying PO1,PO2,PO4

22 What is a stripping device? BTL-1 Remembering PO1,PO2

List any four important factors to be

23 considered in the selection and design of BTL-1 Remembering PO1,PO2

grippers?
Give some examples of tool as robot End
24 BTL-1 Remembering PO1,PO3
effector.
Name some feedback devices used in
25 BTL-1 Remembering PO1,PO11,PO12
robotics.
26 What are the types of encoders? BTL-4 Analyzing PO1

List out the types of Drive systems used in

27 BTL-1 Remembering PO2,PO11
Robots.
28 Write the characteristics of actuating systems. BTL-1 Remembering PO1,PO11

List any two unique features of a stepper

29 BTL-3 Applying PO1
motor.
What is a RCC device? for what purpose is it
30 BTL-1 Remembering PO1,PO2
used in a robots?
PART – B & C
Compare the servo motor with stepper motor BTL-3 Applying PO1,PO2,PO4

1 choose suitable drive system for industrial

robot along with your justification

Classify the end effector. Draw the different BTL-5 Evaluating PO1,PO2,PO4
,PO12
2 mechanism used in the gripper and give
application

(i) Discuss various considerations for BTL-5 Evaluating PO1,PO2,PO4

,PO12
selection and design of a gripper. (ii) Explain
3 working principle, salient features and
applications of A.C. and D.C. Servo motor as
robot drive system

4 State the features of ‘Hydraulic and BTL-5 Evaluating PO1,PO2,PO3

,PO11
 Pneumatic actuators’ system with neat sketch.

Explain the various drive system used with BTL-4 Analyzing PO1,PO2,PO3
,PO4
an industrial robot with their selection
5
criteria and compare their features, merits
and demerits.
BTL-6 Creating PO1,PO2,PO1
(i) Explain vacuum grippers, with reference 2,PO6
to the principle and applications.
6
(ii) Explain the robot and end effector
interface functions.
 UNIT III SENSORS AND MACHINE VISION
Requirements of a sensor, Principles and Applications of the following types of sensors – Position
sensors - Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors,
Range Sensors Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range
Finders, Laser Range Meters, Touch Sensors,binary Sensors., Analog Sensors, Wrist Sensors,
Compliance Sensors, Slip Sensors, Camera, Frame Grabber, Sensing and Digitizing Image Data -
Signal Conversion, Image Storage, Lighting Techniques, Image Processing and Analysis – Data
Reduction, Segmentation, Feature Extraction, Object Recognition, Other Algorithms, Applications -
Inspection, Identification, Visual Serving and Navigation.
PART – A
CO Mapping : C706.3
Q.No Questions BT Competence PO
Level
1 Define vision and vision system? BTL-1 Remembering PO1,PO2

Classify the vision systems? What are the

2 common imaging devices used for robot BTL-1 Remembering PO1,PO2

vision system?
3 Define machine vision and its functions? BTL-1 Remembering PO1,PO2
4 Write the machine vision stages? BTL-1 Remembering PO1,PO2

Write the advantages of machine vision

5 BTL-1 Remembering PO2,PO3
system?
6 What is segmentation? What is thresholding? BTL-1 Remembering PO1,PO3

7 Define sensors and transducer. BTL-3 Applying PO1,PO2,PO12

8 What are the basic classifications of sensors? BTL-3 Applying PO1,PO12

Give an application example of a proximity

9 BTL-3 Applying PO1,PO2
sensor.
Brief on the working of inductive type
10 BTL-3 Applying PO1,PO2
proximity sensor.
Name some feedback devices used in
11 BTL-3 Applying PO1,PO2,PO3
robotics.
What is frame grabber? What is a tactile array
12 BTL-3 Applying PO1,PO6
sensor?
13 Classify the position sensors. BTL-1 Remembering PO1,PO2

What are the terms that define the

14 BTL-1 Remembering PO1,PO2,PO3
performance of the transducers?
15 What is LVDT and how does it work? BTL-1 Remembering PO1,PO2,PO3
16 Write about hall effect sensors? BTL-1 Remembering PO1,PO2,PO12

Write about pyroelectric sensor and

17 BTL-3 Applying PO2,PO12
piezoelectric sensors?
18 What are the types of light sensors? BTL-3 Applying PO2,PO3
19 What are photodiodes? What are the uses of BTL-3 Applying PO1,PO4
 Sniff sensors?
What are the types and uses of Remote Center
20 BTL-3 Applying PO1,PO2,PO4
Compliance devices (RCC)?
21 What is an histogram of image? BTL-3 Applying PO2,PO4

What is meant by windowing and image

22 BTL-3 Applying PO2,PO3,PO4
restoration?
What is region growing, region splitting and
23 BTL-1 Remembering PO1,PO2
edge detection?
What is meant by feature extraction and
24 BTL-1 Remembering PO1,PO2
pattern recognition?
What is meant by quantization and
25 BTL-1 Remembering PO1,PO2
morphology?
Mention any two examples for contact and
26 BTL-2 Understanding PO2
non-contact sensor.
How does charge coupled device differ from
27 BTL-4 Evaluating PO1
charge induction device?
Give an example of touch sensor in the
28 BTL-2 Understanding PO1,PO2,PO3
context of a robot.
What is image analysis? What are the various
29 BTL-1 Remembering PO1,PO2,PO3
techniques in image processing and analysis?
What are areas of application of image
processing in the field of robots? Name any
30 BTL-1 Remembering PO1,PO2,PO12
two algorithms for image enhancement
application.
PART – B & C
Explain the working principle of LVDT, Hall
Effect sensor and compliance sensor along PO1,PO2,PO1
1 BTL-6 Creating
2
with respective circuit. Give the limitations of
all three sensor mentioned.
Write any one algorithm for the edge
detection and segmentation of an image.
Explain how image segmentation helps to
PO1,PO3,PO1
2 improve the quality of the images in a vision BTL-6 Creating
2
system. Describe the industrial applications of
image processing in the field of mechanical
engineering.
(i) What do you mean by robot vision?
PO1,PO3,PO1
3 Explain. (ii) Explain and compare various BTL-6 Creating
2
lighting techniques used in machine vision.
With suitable sketch and citing appropriate
4 application explain the following four BTL-6 Creating PO1,PO3,PO4
sensors. (i) Optical proximity sensors (ii)
 Binary Touch sensors (iii) Slip sensors.
(i) Describe the four types of photo electric
sensors.
5 BTL-4 Analyzing PO1,PO2,PO4
(ii) Explain in detail the tactile and non-tactile
sensors.
(i) Consider two frames {A}&{B}.The frame
{B} is rotated with respect to frame{A} by 30
degree. around z-axis and the origin of{B} is
shifted with respect to the origin of{A}
6 by[5,10,5].the Z a and Z b axes are parallel BLT-6 Creating PO1,PO2,PO4
point ‘p’ is described in {B} by 1,2,3).
Describe the same point with respect to {A}
using the transform matrix . (ii) Write short
note dynamics of a robot.
 UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse
Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of
freedom (in 3 Dimension) Jacobians, Velocity and Forces - Manipulator Dynamics, Trajectory
Generator, Manipulator Mechanism Design - Derivations and problems. Lead through Programming,
Robot programming Languages - VAL Programming - Motion Commands, Sensor Commands, End
Effector commands and simple Programs.
PART – A
CO Mapping : C706.4
Q.No Questions BT Competence PO
Level
PO1,PO2,PO1
1 What are the methods of robot programming? BTL-1 Remembering
2
What are the ways of accomplishing lead PO1,PO2,PO1
2 BTL-1 Remembering
2
through programming?
3 What is teach pendant? BTL-3 Applying PO1,PO2
4 What are the methods of teaching? BTL-3 Applying PO1,PO2
Write a short note on importance of kinematic
5 BTL-3 Applying PO1,PO2
study of the robot.
6 What is robot kinematics? BTL-3 Applying PO1,PO3
7 What is trajectory planning? BTL-3 Applying PO1,PO3,PO4
8 Define degrees of freedom. BTL-1 Remembering PO1,PO2
PO2,PO3,PO
9 Explain joint mode of teaching robots. BTL-5 Evaluating
4
Explain the reasons for defining points in a
10 BTL-1 Remembering PO1,PO3,PO4
program.
11 What is position representation? BTL-1 Remembering PO2,PO3
PO2,PO3,PO
12 Define servo controlled robots. BTL-1 Remembering
4
13 What is circular Interpolation? BTL-1 Remembering PO1,PO2
14 What are irregular smooth motions? BTL-1 Remembering PO1,PO2,PO4
15 What is manual lead through programming? BTL-1 Remembering PO1,PO2,PO3
16 What is powered lead through programming? BTL-1 Remembering PO1,PO2,PO4
Write down the limitations of Lead through
17 BTL-1 Remembering PO1,PO2,PO3
methods
Differentiate between Forward kinematics
18 BTL-2 Understanding PO1,PO2
and reverse kinematics?
19 Explain redundancy. BTL-1 Remembering PO1,PO2,PO3
20 Define servo control robots? BTL-3 Applying PO1,PO12
What are limitations of online and offline
21 BTL-1 Remembering PO1,PO3
robot programming?
22 List any two applications of straight line BTL-1 Remembering PO1,PO11
 interpolation in robotics.
23 How can you define a manipulator? BTL-1 Remembering PO1,PO3
Write down the basic types of robot PO1,PO2,PO3
24 BTL-1 Remembering
,PO12
programming.
List the Motion control commands used in
PO1,PO2,PO3
25 VAL II programming and describe its BTL-1 Remembering
,PO11,PO12
functions.
List the Speed control commands used in
26 VAL II programming and describe its BTL-1 Remembering PO1,PO2,PO4
functions.
List the Position control commands used in
PO1,PO2,PO3
27 VAL II programming and describe its BTL-1 Remembering
,PO4
functions.
List the End effector operation commands
PO1,PO2,PO3
28 used in VAL II programming and describe its BTL-4 Analyzing
,PO4
functions.
List the Sensor commands used in VAL II
29 BTL-1 Remembering PO1,PO2,PO4
programming and describe its functions.
What are the Robot Programming Languages
30 BTL-1 Remembering PO1,PO2,PO4
used?
PART – B & C
(i) Explain the four statements of VAL robot BLT-5 Evaluating PO1,PO4,

programming language. List the commands

used in VAL programming and describe its
functions. (ii) Write a VAL program for pick-
and-place operation on the conveyor system.
it consists of two conveyors running parallel
1 with centre distance of 600 mm at same level.
An industrial robot is fixed centrally between
the conveyors. The robot is used to transfer
work pieces from conveyor 1 to 2 at a
constant speed. Draw a schematic view of the
system .assume all necessary dimension.
Draw your environment diagram showing the BTL-5 Evaluating PO1,PO2,PO3
2
industrial robot.
Illustrate the forward kinematics of a 3 DOF BLT-5 Evaluating PO1,PO3,PO4

industrial robot with rational joints. Explain

3 the functions of an inverse kinematics
algorithm. Draw suitable diagram for your
illustration. Mention the advantages of
 forward kinematics over inverse kinematics
(i) Write about sensor and end effector BLT-5 Evaluating PO1,PO2,PO3
,PO4
4 commands. (ii) Differentiate the forward
and reverse transformation with an example.
(i) Write an elobrate note on motion BLT-5 Evaluating PO1,PO3,PO4

commands of robots. (or) Explain Wait,

DELAY, SIGNAL commands with suitable
5
examples.
(ii) Explain manual lead through
programming method in robot application.
(i) Explain Denavit-Hartenberg parameters BLT-5 Evaluating PO1,PO2,PO4
,PO6
with suitable examples.(ii) Discuss about
6
Programming Languages used in computer
controlled robots.
 UNIT V IMPLEMENTATION AND ROBOT ECONOMICS
RGV, AGV; Implementation of Robots in Industries - Various Steps; Safety
Considerations for Robot Operations - Economic Analysis of Robots.
PART – A
CO Mapping : C706.5
Q.No Questions BT Competence PO
Level
What are the different types of material
1 BTL-1 Remembering PO1,PO2,PO4
handling operation?
What are the three basic modes of operation
2 BTL-2 Understanding PO1,PO2,PO3
in a robot language operating system?
3 What is Gantry Robot? BTL-1 Remembering PO1,PO2

4 Write some applications of AGV? BTL-3 Remembering PO1,PO2,PO3

5 List out types of AGV vehicles? BTL-3 Remembering PO1,PO2

6 Distinguish between the AGV and Robot. BTL-3 Remembering PO1,PO2

Mention the limitations of implementing

7 BTL-3 Remembering PO1,PO2,PO3
robots in industry.
List out any two important factors in the
8 BTL-3 Remembering PO1,PO2,PO12
selection of robot for an application.
List out the few robot applications area in
9 BTL-1 Remembering PO1,PO2
manufacturing.
What are the functions of work cell
10 BTL-1 Remembering PO1,PO3
controller?
State some of the reasons made use of
11 BTL-1 Remembering PO1,PO4
robots in welding operation.
12 Differentiate palletizing and depalletizing. BTL-5 Evaluating PO1,PO12

What are the steps to be followed by the

13 company in order to implement robot BTL-1 Remembering PO1,PO2,PO3

programs in its operations?

What are the typical technical features
14 BTL-5 Evaluating PO1,PO2
required for material transfer?
What are the different methods of economic
15 BTL-1 Remembering PO1,PO2,PO3
analysis?
16 Write a note on ROI method? BTL-1 Remembering PO1,PO3

17 Define EUAC method? BTL-1 Remembering PO1,PO12

18 Define a dead man switch? BTL-1 Remembering PO1,PO12

19 What are the general characteristics that BTL-1 Remembering PO1,PO2,PO11

 make potential robot application technically
practical and economically feasible?
20 Define payback period? BTL-1 Remembering PO1,PO2

21 What is AGV? BTL-3 Remembering PO1,PO2,PO12

22 How does RGV differ from AGV? BTL-1 Remembering PO1,PO2,PO3

23 Define MTTR, MTBF? BTL-1 Remembering PO1,PO2,PO12

24 What is image resolution? BTL-1 Remembering PO1,PO2,PO4

25 Define Tracking? BTL-1 Remembering PO1,PO3,PO4

Function of robots in a Computer Integrated

26 BTL-1 Remembering PO1,PO2,PO3
Manufacturing environment.
What are the causes of human injury in a PO1,PO2,PO4,
27 BTL-1 Remembering PO12
robotic environment?
List few safety precautions necessary for PO1,PO2,PO4,
28 BTL-1 Remembering PO12
robotic application.
What are the three levels of safety sensor
PO1,PO2,PO4,
29 systems in robotics defined by National BTL-1 Remembering PO12
Bureau of Standards?
30 What are the benefits of industrial robots? BTL-4 Analyzing PO1,PO2,PO3

PART – B & C
Discuss the various steps to be taken for BLT-5 Evaluating PO1,PO2,PO3
,PO12
implementing robots in industry and safety
1
issues. Write the advantages of using robots
in industry.
Illustrate the pay back and rate of return BLT-5 Evaluating PO1,PO2,PO3

method of economic analysis while

2
implementing robots in industry suitable
example problem.
(i) Briefly explain AGV & RGV types of robots BLT-5 Evaluating PO1,PO2,PO1
2
in detail.
3 (ii) Briefly explain the various steps involved
for implementing the robot in industries.
Briefly explain the economic analysis of BLT-5 Evaluating PO1,PO3,PO6
4
Robots in detail.
Briefly explain the Safety sensors and safety BLT-5 Evaluating PO1,PO2,PO4
5
monitoring of Robots in detail.
List and explain direct and indirect costs BLT-5 Evaluating PO1,PO2,PO4

6 involved in a robot application project.

Justify whether you gain profit or loss.