POLITEKNIK KOTA BHARU

JABATAN KEJURUTERAAN ELEKTRIK

AUTOMATIC CONTROL SYSTEMS
ASSIGNMENT 3

a. What are the three main way to classify robots. ( 3 marks)

b. Briefly define each of the following terms:

i) Degree of freedom ( 2 marks)
ii) Repeatability ( 2 marks)
iii) Accuracy ( 2 marks)
iv) Configurations/Coordinates ( 2 marks)

c. Explain two characteristics of the robot in figure Q3(c(i)) and Q3(c(ii)) :

i. Cartesian ( 4 marks)

Figure Q3c(i)
 ii. Cylindrical ( 4marks)

Figure Q3(ii)

4. Draw the basic component of robot.

( 6 marks)
QUESTION 4

a. Explain three advantages and three disadvantages of magnetic grippers.

(6 marks)

b. Hydraulic drives are electric pump connected to a reservoir tank and hydraulic
actuator. List five characteristics of hydraulic drives. (5 marks)

c. Explain four advantages of using robot in spray painting. (8 marks)

d. Explain three types of accident that always happen when working with robot.
(6 marks)
SCHEMA
QUESTION 3

a. What are the three main way to classify robots. (3

marks)
ANSWER
i) according to the coordinate systems (1 m)
ii) according to the control method (1m)
iii) according to the ability of the robot (1m)

b. Briefly define each of the following terms:

i) Degree of freedom ( 2 marks)
Each joint on the robot introduces a degree of freedom.
Each dof can be a slider, rotary, or other type of actuator.
Robots typically have 5 or 6 degrees of freedom. 3 of the
degrees of freedom allow positioning in 3D space, while the
other 2or 3 are used for orientation of the end effector. 6
degrees of freedom are enough to allow the robot to reach
all positions and orientations in 3D space. 5 dof requires a
restriction to 2D space, or else it limits orientations. 5 dof
robots are commonly used for handling tools such as arc
welders.

ii) Repeatability ( 2 marks)

ANSWER
The robot mechanism will have some natural variance in it.
This means that when the robot is repeatedly instructed to
return to the same point, it will not always stop at the same
position. Repeatability is considered to be +/-3 times the
standard deviation of the position, or where 99.5% of all
repeatability measurements fall. This figure will vary over
the workspace, especially near the boundaries of the
workspace, but manufacturers will give a single value in
specifications.
 iii) Accuracy ( 2 marks)
ANSWER
This is determined by the resolution of the workspace. If
the robot is commanded to travel to a point in space, it will
often be off by some amount, the maximum distance should
be considered the accuracy. This is an effect of a control
system that is not necessarily continuous.

iv) Configurations/Coordinates ( 2 marks)

ANSWER
The robot can move, therefore it is necessary to define
positions. Note that coordinates are a combination of both
the position of the origin and orientation of the axes.

d. Explain two characteristics of the robot in figure Q3(c(i)) and

Q3(c(ii)):

i. Cartesian (4
marks)

Figure Qc(i)

ANSWER
Cartesian/Rectilinear/Gantry –
 i) Positioning is done in the workspace with
prismatic joints. (2m)
ii) This configuration is well used when a large
workspace must be covered, or when
consistent accuracy is expected from the
robot. (2m)

ii. Cylindrical ( 4marks)

Figure Q3(ii)
ANSWER
Cylindrical
i) The robot has a revolute motion about a base,
a prismatic joint for height, and a prismatic
joint for radius. (2m)
ii) This robot is well suited to round workspaces.
(2m)

5. Draw the basic component of robot.

( 6 marks)
ANSWER
QUESTION 4
a. Explain three advantages and three disadvantages of magnetic grippers.
(6 marks)
ANSWER
Advantages,
1. - requires only one surface of a part to grasp
(1m)
2. - a uniform pressure can be distributed over
some area, instead of concentrated on a point
(1m)
3. - the gripper is light weight
(1m)
4. - many different types of materials can be used
(1m)

Disadvantages,
1. - the maximum force is limited by the size of
the suction cups
(1m)
2. - positioning may be somewhat inaccurate
(1m)
3. - time may be needed for the vacuum in the
cup to build up
(1m)

a. Hydraulic drives are electric pump connected to a reservoir tank and hydraulic
actuator. List five characteristics of hydraulic drives. (5 marks)

ANSWER
i. Precise motion control over a wide range of speeds
and loads
ii. Robust
 iii. Greater strength
iv. Can be very messy
v. Require much more peripheral equipment
vi. Noisy
vii. Heavier than other power drive
(1m each answer)
b. Explain four advantages of using robot in spray pinting. (8 marks)
ANSWER
i) air under pressure causes the paint to atomize and be
propelled to the article to be painted

ii) finishing materials, such as paint, are sprayed under

considerable hydraulic pressure through a fixed orifice,
which causes the paint to be atomized directly without the
need for air.

iii) Atomized particles (paint or powder droplets) are

electrostatically charged. These are attracted to the object
being sprayed by the applied electrostatic field.
Considerable material savings are achieved since very little
of the sprayed material bypasses the object and is lost.
Objects being sprayed are kept at a ground potential to
achieve a large electrostatic field.

iv) paint decreases in viscosity when heated and can be

sprayed with lower pressures. Less solvent is required and
there is less overspray of paint. Heating may be used with
any of the preceding systems

(2m each answer)

d. Explain three types of accident that always happen when working with robot.
(6 marks)

ANSWER
1. Impact or Collision Accidents. Unpredicted movements,
component
malfunctions, or unpredicted program changes related to the robot's arm or
peripheral equipment can result in contact accidents.

2. Crushing and Trapping Accidents. A worker's limb or other body

part
can be trapped between a robot's arm and other peripheral equipment, or the
individual may be physically driven into and crushed by other peripheral
equipment.

3. Mechanical Part Accidents. The breakdown of the robot's drive

components, tooling or end-effector, peripheral equipment, or its power
source
is a mechanical accident. The release of parts, failure of gripper mechanism,
or
the failure of end-effector power tools (e.g., grinding wheels, buffing wheels,
deburring tools, power screwdrivers, and nut runners) are a few types of
mechanical failures.

(2m each answer)