ME1008 Robotics B.E Question Bank : niceindia.com

Name of the College : Noorul Islam College of Engineering
University : Anna University
Degree : B.E
Department : Mechanical Engineering
Subject Code/Name : ME 1008 – Robotics
Year : 4th
Semester : 7th
Document Type : Question Bank
Website : niceindia.com

Download Model/Sample Question Paper :https://www.pdfquestion.in/uploads/niceindia.com/3024-ME_1008_Robotics.pdf

NICE Robotics Question Bank

UNIT I

1.Name the commonly used robot configuration system ? :
The commonly used robot configuration system are
** Cartesian coordinate system

Related : Noorul Islam College of Engineering EI1301 Industrial Instrumentation B.E Question Bank : www.pdfquestion.in/3016.html

** Cylindrical coordinate system
** Polar or spherical coordinate system
** Revolute coordinate system

2.Name the important parts of harmonic drive ? :
The important parts of harmonic drives are
** Rigid circular spline with internal teeth
** Flex spline with external teeth
** Elliptical wave generator

3.Sketch the revolving joint and show the relative joint motions ? :

4.Define a Robot? :
RIA defines arobot as a “programmable , multifunction manupulator designed to
Move materials, parts ,tools or special devices through variable programmed motions for
the performance of the variety of tasks “.

5. State the advantages and limitations 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.
** 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 enviroinment.

Disadvantages :-
**It occupies more space.
** Maintanance should be done regularly.

6. What are the types of hydraulic actuators ? :
The types of hydraulic actuators are

Linear hydraulic actuator :
** Single acting cylinder
** Double acting cylinder
** Double acting double rod cylinder

Hydraulic rotary actuator :
** Gear motor
** Vane motor
** Piston motor

7.What is meant by workspace? :
The space in which the end point of the robot arm is capable of operating is called as workspace in other words reachability of robot arm is known as workspace.

8. What is meant by work volume? :
The volume of the space swept by the robot arm is called work volume.

9. What is meant by work envelop ? :
The work envelop is described by the surface of the work space.

10. What is meant by accuracy of Robot ? :
The robot’s ability to reach a reference point with in the robot’s full work volume is known as accuracy of robot .

11.What is meant by pay load capacity of Robot ? :
The maximum load which can be carried by the manupulator at low or normal speed .

12. What is meant by precision of Robot ? :
It is the smallest increment of motion for which the robot can be controlled

13.What is repeatability of Robot? :
Repeatability refers to robot’s ability to return to the programmed point when it is commanded to do so.

14.What is meant by quality of Robot? :
A Robot is said to be high quality when the precision and accuracy is more .

15. Classify the motion control of Robot arm? :
** Limited sequence control
** Point to Point control
** Continuous path control
** Intelligent control

UNIT II

16. Define End effector:-
End effector is a device that is attached to the end of the wrist arm yo perform specific task .

17. Give some examples of Robot End effector:-
o Gripper
o Tools
o Welding equipments
o End of arm Tooling (EOAT)

18. What is meant by Gripper?
Gripper is the End effector which can hold or grasp the object .

19. What are the types of Grippers?
• Magnetic Gripper
• Mechanical Gripper
• Hooking Gripper
• Vacuum Gripper

20.What is a stripping device?
A device used to remove workpiece from the magnetic gripper

21 What are the types of mechanical Grippers?
Linkage actuation gripper
Gear and rack actuation gripper
Cam actuated gripper
Screw actuated gripper

22. Give some examples of tool as Robot End effector
Spot Welding Tools
Arc welding Torch
Spray painting nozzle
Water jet cutting tool

23 What is transfer function :-
The transfer function relates the Laplace transformation of the system output to an Laplace transformation of the system input.

24.What is summing junction :-
Summing junctions may have any number of arrows entering but only one leaving .

25. What is a take of point?
Take of points permit signals and variables to be shared among more than a single component

26. What is a functional block?
Functional block represents one of the components of the system and contains the transfer function for the component.

27. What is a signal arrow?
Signal arrow indicates the direction of variables and signals in the diagram.

28.Name some feedback devices used in robotics?
• potentiometer
• resolver
• encoder

29.What are the types of encoders?
A. Linear encoder
B. Rotary encoder
(i)Absolute encoder
(ii)Incremental encoder

30.What is forward kinematics?
It is a scheme to determine joint angles of a robot by knowing its position in the world coordinate system

31.What is reverse kinematics?
It is a scheme to determine the position of the robot in the world coordinate system by knowing the joint angles and the link parameters of the robot.

32 List the various actuating mechanisms used in mechanical grippers.
Linkage actuation gripper
Gear and rack actuation gripper
Cam actuated gripper
Screw actuated gripper

33. What is the principle of vacuum cup?
The principle used in vacuum pump and Venturi

UNIT III

34.What is frame grabber?
It is a hardware device used to capture and store the digital image.

35.What is the common imaging device used for robot vision system?
Black and white vidicon camera, charge coupled devices, solid state camera, charge injection devices.

36.What is pixel?
Picture elements are also known as pixels

36.What is a frame of a vision data?
The digital image of the camera is called frame of vision data

37.What is segmentation?
Segmentation is the method to group areas of an image having similar characteristics or features into distinct entities representing part of the image.

38. What is thresholding?
Thresholding is a binary conversion technique in which each pixel is converted into a binary value either black or white.

39.What is region growing?
Region growing is a collection of segmentation techniques in which pixels are grouped in regions called grid elements based on attribute similarities.

40.What are the functions of machine vision system?
Sensing and digitizing image data Image Processing and analysis Application