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Industrial Robotics - Model Papers

This document contains questions from 5 units on the topic of industrial robotics. Unit 1 covers the main characteristics and components of industrial robots, grippers, automation types, and robot joints. Unit 2 discusses robot actuators, sensors, position and feedback devices. Unit 3 focuses on robot applications in spray painting and assembly. Unit 4 is about robot kinematics including transformations, forward/reverse kinematics, and Denavit-Hartenberg parameters. Unit 5 examines robot dynamics using Lagrangian, Newtonian and Jacobian formulations to derive equations of motion.

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271 views3 pages

Industrial Robotics - Model Papers

This document contains questions from 5 units on the topic of industrial robotics. Unit 1 covers the main characteristics and components of industrial robots, grippers, automation types, and robot joints. Unit 2 discusses robot actuators, sensors, position and feedback devices. Unit 3 focuses on robot applications in spray painting and assembly. Unit 4 is about robot kinematics including transformations, forward/reverse kinematics, and Denavit-Hartenberg parameters. Unit 5 examines robot dynamics using Lagrangian, Newtonian and Jacobian formulations to derive equations of motion.

Uploaded by

raminenie
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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INDUSTRIAL ROBOTICS UNIT WISE QUESTIONS

UNIT-1

1. Write the main characteristics of robot application in industry


2. Discuss in detail about Magnetic gripper with neat sketch
3. Explain the linkage mechanisms of mechanical grippers with neat sketches
4. What are the different components of industrial robotics? Explain
5. Discuss in detail factors considered while selection and design of grippers
6. Differentiate Hard automation and Flexible automation using robot
7. What is the importance of Automation in industry? Explain
8. List the different types of joints used in robots
9. Explain the various factors in gripper’s selection and design.
10.Illustrate Cartesian coordinate configuration robot with a neat sketch

UNIT-2

1. Explain RPY representation of orientation


2. Explain electric drive used in industrial robot
3. Explain hydraulic drive used in industrial robot
4. Describe potentiometer used in robots with a neat sketch
5. What are the different actuators used in the robots? Describe them briefly.

6. Discuss the different feedback components used in robots

7. With neat sketches, explain velocity sensors used in Robots.

8. Explain the position sensors used in robotics

9. Explain about proximity and range sensor with neat sketch

10. Explain the operation of optical encoder used in robot as a feedback device

11. Classify actuators used in robot manipulator


12 Explain the working of DC servo Motor
UNIT-3

1.What features are required for robot in spray painting? Explain

2. Discuss the applications and working principle of the following sensors.

i) Range sensors ii) Acoustic sensors iii) Tactile sensors

3. Classify various methods of part presentation in assembly process.


4. Differentiate between sensor based inspection and visual based inspection
5. Explain the importance of robot safety in industrial applications
. 6. Briefly explain peg-in-hole assembly with a neat sketch
7. Discuss the steps involved in assembly operations.
8. Classify various assembly systems configuration
9. What are the features of robot in machine loading applications
10. Discuss various methods of part presentation in assembly process.

UNIT-4

1.Derive the relation for the combined transformation matrix in translation and
rotation

2. What do you mean by forward kinematics and reverse kinematics? Explain


3. Explain Direct kinematics of a manipulator with a neat sketch
4. For the point [-4 3 -1] perform the following operations:

(i) Rotate 30° about x then translate 6 units along Y-axis.

(ii) Rotate 90° about z-axis


5. For the point 3i+7j+5k perform the translation of 6 units along Y axis and then
rotate 300 about X axis.
6. Discuss Denavit -Hartenberg convention in detail.
7. Determine the translated vector for the given vector v = 25i+10j+20k perform a
translation by a distance of 8 units in “x” direction, 5 units in “y” direction and 0
units in “z” direction.
8. One point puvw =(6,5,4)T are to be translated a distance +6 units along OX axis
and -4 units along the OZ axis using appropriate homogeneous matrix, determine
the new points pxyz
9. The coordinates of point P in frame {1} are [3.0 2.0 1.0]T . The position vector
P is rotated about the Z – axis by 450. Find the coordinates of point Q, the new
position of point P.
10. Two coordinate frames {1} and {2} are initially coincident. Frame {2} is
rotated by 450 about a vector k = [0.5 0.866 0.707]T passing through the origin.
Determine the new description of frame {2}.

UNIT-5

1. Differentiate between Lagrange Euler and Newton Euler Formulation

2. Describe the features of 4-3-4 joint trajectory with respect to time variations

3.Discuss the application of Lagrangian Newtonian techniques in writing the


equation of motion for Robotics

4. Define and explain a geometric Jacobian

5. Write about Textual Robot languages programming as a path in space

6. Using the L-E formulation determine the equation of motion for a Revolute-
Prismatic (RP) robot arm manipulator shown in below fig.
7. Discuss programmable automation in detail and illustrate one example.

8. A single cubic trajectory given by q(t) = 30 + t2 – 6t3 is used for a period of 3s


determine the start and goal positions, velocity and acceleration of the end effector
9. Differentiate between Newton-Euler formulation and Lagrange-Euler
formulation.
10. Derive the Jacobian matrix for the 2-link planar manipulator

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