Republic of Yemen Time : 2 hours

Taiz University Date: 30/7/2018

Mechatronic & Robotic Engineering Eng. Osama Alabsy

Subject : Introduction to Robotics Final Exam 2017/2018 level 3

Q1. Choose the best answer from the multiple choices :

1- Which type of motors has feedback mechanism
[ D.C motor - Stepper motor - Servo motor - All of them ]

2- What is the best Sensor that is included in a servo mechanism

[ Encoder - Potentiometer - Ultrasonic - Infrared sensor ]

3- Automatic feedback controls

[ Velocity - Torque - Speed - Position ]

4- To facilitate the free movement of shaft we use

[ bearings - actuators - gears - transmissions ]

5- If we increase the input voltage to D.C motor the ……………will increase

[ velocity - current - speed - torque ]

6- Suppose you have a servo with a transit time of 0.17 sec/30 deg at no load ,this mean it
would take ……………. To rotate 180 degrees
[ 1 second - 0.5 second - 0.2 second - 2 seconds ]

7- When we need to connect four D.C motors to microcontroller with required power we use
[ L 298 driver - L 293 driver - PCA 9685 - H bridge ]

8- The ………………….. provides the intelligence that is necessary to control the manipulator
[ Sensor - Artificial Intelligence - controller - modern control ]

9- The robots belonging to this generation have human like intelligence

[First generation - Second generation – Third generation – Fourth generation ]

10- These robots are so designed as to navigate and carry out the task with the intervention of
human beings
[ Autonomous Robots – Mobile Robots – Industrial Robots – None ]

11- It permits relative rotation about a unique pair axis and has a single degree of freedom
[ Prismatic Pair - Revolute Pair - Cylindrical Pair – Spherical Pair ]

12- PWM signal is use for controlling the Servo motor ………………
[ Position - Direction - Speed - Position and direction ]

13- In an electrical measuring instrument if a movement of 0.01 mm causes an output voltage

change of 0.02 v , the sensitivity of the measuring instrument is …………….
[ 20 v/mm - 2 v/mm - 0.5 mm/v - 20 v ]

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 14- Device used to transform electrical energy to mechanical energy
[ Transducer - Sensor - Actuator - Generator ]

15- …………… is a measure of the difference between the measured value and actual value
[ Accuracy - Resolution - Precision - Sensitivity ]

16- One of the reasons of non-linearity

[ Hysteresis - Error - Wear - Cost ]

17- Non –contact detection of an Object is …………..sensor

[ Proximity - Simple Touch - Presence - Tactile ]

18- The encoder outputs a 4-bit word with the LSB coming from the outer track , the disk is
divided into 16 sectors. So the resolution in this case is ……………… degree .
[ 22.5 - 90 - 21.86 - 20 ]

19- Type of Robot has vertical rotational axes of its shoulder and elbow
[ Gantry - SCARA - PUMA - Cantilever ]

20- The Selective Compliance Assembly Robot Arm (SCARA) Robot Arm has three DOFs
[ RPR - RRP - RRR - PRR ]

Q2. Write True or False and correct the wrong answer :

1) The rotor of servo motor is designed longer in length and smaller in diameter( )
2) If the pulse width sent to servo ranges 2 milliseconds that corresponds to 90
rotation angle ( ).
3) We can control the speed and direction of continuous rotation servo ( ).
4) Stepper motors are operated in closed loop while servo in opened loop ( ).
5) Feedback control with D.C motors gives a much faster response time compared
to stepper motors ( ).
6) An automated machine has feedback to reprogram the predetermined path ( )
7) The external sensors are provided to indicate the position ,velocity and forces
of the end – effector ( ).
8) The Cartesian robot termed as gantry robot has three mutually perpendicular
axes which define a rectangular work volume ( ).
9) The most basic joints are the prismatic and revolute pairs and these two pairs
are excessively used in combination in the robotic manipulators ( ).

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 10)In six degrees of freedom of Robot ,the three links make up the wrist of the
manipulator and are used to place the end-effector at a desired location ( ).

Q3. Answer these question by abbreviated way .

1- What is the definition of robot , explain the advantages and disadvantages of

robots ?
2- What are the advantages of Hydraulic , Pneumatic and electric actuators .And
which type is suitable for design a robot ,why ?
3- Explain the meaning of DOF , talk about the most common types of pair
connectors (( joints )) and these DOFs ?
4- What is the servo and write its advantages and disadvantages of it . Explain its
applications and draw the block diagram of servo motor and explain it ?
5- Write the equation of ultrasonic sensor that we can use it to calculate the distance
of object and write the range of sensor that can detect objects ?
6- Write the program to move the servo 90 degree counter clock wise in 15 ms of
time and return to its original position in 3 seconds of time. Attach servo to 7 bin?
7- what are the most important sensors you use them in your private project and
explain how they work in your project. Write all components that you use them
and explain the aim of your project ? ( ‫)ﻣﻼﺣﻈﺔ ﻳﺴﻤﺢ ﺍﻻﺟﺎﺑﺔ ﺑﺎﻟﻠﻐﺔ ﺍﻟﻌﺮﺑﻴﺔ ﻋﺪﺍ ﺍﺳﻤﺎء ﺍﻟﻘﻄﻊ‬

8- How many DOFs and links in this

robot, And write the components of this
PUMA 560 ROBOT ?

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