ROBOTICS

Subject code: ME733PE

Regulations: R16-JNTUH
Class: IV Year B. Tech MECH I Sem

Department of Mechanical Engineering

BHARAT INSTITUTE OF ENGINEERING AND TECHNOLOGY
Ibrahimpatnam - 501 510, Hyderabad
 ROBOTICS (ME733PE)
COURSE PLANER
I. COURSE OVERVIEW:
The goal of the course is to familiarize the students with the concepts and techniques in
robotic engineering, manipulator kinematics, dynamics and control, chose, and incorporate
robotic technology in engineering systems. Make the students acquainted with the theoretical
aspects of Robotics

II. PREREQUISITE(S):
The knowledge of following subjects is essential to understand the subject:
1. Basic principles of Kinematics and mechanics

III. COURSE OBJECTIVES:

The objectives of the course are to enable the student
 Make the students acquainted with the theoretical aspects of Robotics
 Enable the students to acquire practical experience in the field of Robotics through
design projects and case studies.
 Make the students to understand the importance of robots in various fields of
engineering.
 Expose the students to various robots and their operational details.

IV. COURSE OUTCOMES

Bloom’s Taxonomy
Sl. NO Description level
Student will be able to understand the basic components of robots. Knowledge,
CO1 Understand(Level1,
Level2)
Student will be able to understand Differentiate types of robots and robot Understand,Apply(
CO2 grippers. Level2,Level 3)
student will be able to understand concepts of kinematics of robot
CO3 Understand( Level2)
manipulators
student will be able to understand Analyze forces in links and joints of a
CO4 Apply-3
robot
Programme a robot to perform tasks in industrial applications. Design
CO5 intelligent robots using sensors. Design level-6

V. HOW PROGRAM OUTCOMES ARE ASSESSED:

Proficiency
Program Outcomes (POs) Level
assessed by
PO1 Engineering knowledge: Apply the knowledge in mathematics, science, Assignments,
Engineering fundamentals and an Engineering specialization to the solution Practicals,
of complex Engineering problems. Midterm and

MECH IV Yr – I Sem. 12
 University
examination
PO2 Assignments,
Problem Analysis: Identify, formulate, research literature, and analyze Practicals,
complex Engineering problems reaching substantiated conclusions using Midterm and
first principles of mathematics, natural sciences, and Engineering sciences. University
examination
PO3 Assignments,
Design/ Development of Solutions: Design solution for complex
Practicals,
Engineering problems and design system components or processes that
Midterm and
meet the specified needs with appropriate consideration for the health and
University
safety, and the cultural, societal, and environmental consideration.
examination
PO4 Assignments,
Conduct Investigations of Complex Problems: Use research-based
Practicals,
knowledge and research methods including design of experiments, analysis
Midterm and
and interpretation of data, and synthesis of the information to provide valid
University
conclusions.
examination
PO5 Assignments,
Modern Tool Usage: Create, select, and apply appropriate techniques,
Practicals,
resources, and modern engineering and IT tools including prediction and
Midterm and
modeling to complex engineering activities with an understanding of the
University
limitations.
examination
PO6 The Engineer and Society: Apply reasoning informed by the contextual
knowledge to assess societal, health, safety, legal and cultural issues and the
consequent responsibilities relevant to the professional Engineering
practice. --
PO7 Environment and Sustainability: Understand the impact of the
professional Engineering solutions in societal and environmental contexts, --
and demonstrate the knowledge of need for sustainable development.
PO8 Practicals,
Ethics: Apply ethical principles and commit to professional ethics and Projects
responsibilities and norms of the Engineering practice.
PO9 Individual and Team Work: Function effectively as an individual, and as --
a member or leader in diverse teams, and in multidisciplinary settings.
PO10 Communication: Communicate effectively on complex Engineering ---
activities with the Engineering community and with society at large. Some
of them are, being able to comprehend and write effective reports and
design documentation, make effective presentations, and give and receive
clear instructions
PO11 Project Management and Finance: Demonstrate knowledge and ---
understanding of the Engineering and management principles and apply
these to one’s own work, as a member and leader in a team, to manage
projects and in multidisciplinary environments.
PO12 Practicals,Midt
erm and
Life-Long Learning: Recognize the need for, and have the preparation and University
ability to engage in independent and lifelong learning in the broadest examination,
context of technological change. Projects,
Technical
activites.

MECH IV Yr – I Sem. 13
VI. HOW PROGRAM SPECIFIC OUTCOMES ARE ASSESSED:
Proficiency
Program Specific Outcomes (PSOs) Level
assessed by
PSO1 Professional Skills: The
student will be able to apply the knowledge
of Mathematics, Sciences and Engineering fundamentals to
Lectures,
formulate, analyze and provide solutions to the problems related 2
Assignments
to Mechanical Engineering and communicate them effectively to
the concerned.
PSO2 Problem-Solving Skills: Design Mechanical systems in various fields such as
Machine elements, thermal, manufacturing, industrial and inter-disciplinary Lectures,
2
fields by using various Engineering/technological tools to meet the mercurial Assignments
needs of the industry and society at large.
PSO3 Practical implementation and testing skills: The ability to grasp the
latest development, methodologies of Mechanical Engineering
Lectures,
and possess competent knowledge of design process, practical 2
Assignments
proficiencies, skills and knowledge of programme and developing
ideas towards research.

VII. MAPPING COURSE OUTCOMES LEADING TO THE ACHIEVEMENT OF

PROGRAM OUTCOMES AND PROGRAM SPECIFIC OUTCOMES:

Program Outcomes (PO’s)

CO’s
PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12
-- -- -- -- -- --
CO1 2 2 1 2 -- 2
-- -- -- -- -- --
CO2 2 2 1 2 -- 2
-- -- -- -- -- --
CO3 2 2 1 2 -- 2

-- -- -- --
CO4 2 2 1 3 1 2 -- 2

-- --
CO5 2 2 1 3 2 -- 1 2 -- 2

Average 2 2 1 3 -- -- 2 -- 1 2 -- 2

Program Specific Outcomes (PSO’s)

CO’S PSO1 PSO2 PSO3

CO1. - - -

CO2. - - -
CO3. 2 2 2
CO4 2 2 2
CO5 2 2 2
Average 2 2 2

MECH IV Yr – I Sem. 14
VIII. SYLLABUS:

Unit – I Introduction: Automation and Robotics, CAD/CAM and Robotics – An over

view of Robotics – present and future applications. Components of the
Industrial Robotics: common types of arms. Components, Architecture,
number of degrees of freedom – Requirements and challenges of end
effectors, Design of end effectors, Precision of Movement: Resolution,
Accuracy and Repeatability, Speed of Response and Load Carrying
Capacity.
Unit – II Motion Analysis: Basic Rotation Matrices, Equivalent Axis and Angle,
Euler Angles, Composite Rotation Matrices. Homogeneous transformations
as applicable to rotation and translation – problems. Manipulator
Kinematics-H notation-H method of Assignment of frames-H
Transformation Matrix, joint coordinates and world coordinates, Forward
and inverse kinematics – problems on Industrial Robotic Manipulation.
Unit – III Differential transformation of manipulators, Jacobians – problems.
Dynamics: Lagrange – Euler and Newton – Euler formations – Problems..
Trajectory planning and avoidance of obstacles, path planning, Slew motion,
joint interpolated motion – straight line motion.
Unit - IV Robot actuators and Feedback components: Actuators: Pneumatic,
Hydraulic actuators, electric & stepper motors, comparison of Actuators,
Feedback components: position sensors – potentiometers, resolvers,
encoders – Velocity sensors, Tactile and Range sensors, Force and Torque
sensors.
Unit - V Robot Application in Manufacturing: Material Transfer - Material handling,
loading and unloading- Processing - spot and continuous arc welding &
spray painting - Assembly and Inspection

SUGGESTED BOOKS/RESOURCES:

TEXT BOOKS:
1. Industrial Robotics / Groover M P /Mc Graw Hill
2. Introduction to Industrial Robotics / Ramachandran Nagarajan / Pearson

REFERENCE BOOKS:
1. Robot Dynamics and Controls / Spony and Vidyasagar / John Wiley
2. Robot Analysis and control / Asada , Slotine / Wiley Inter-Science

GATE SYLLABUS& IES SYLLABUS: NA

IX: COURSE PALN

MECH IV Yr – I Sem. 15
Lecture Teaching
Topics to be covered Course Learning Outcomes References
No. Methodology

UNIT-I
1 Introduction Chalk &Talk T1, T2 and R1
Automation and Define basics of Robotics
Chalk &Talk T1, T2 and R1
2 Robotics
CAD/CAM and Define basics of Robotics
Chalk &Talk T1, T2 and R1
3 Robotics
An over view of Explain applications used in
Robotics present and robotics Chalk &Talk T1, T2 and R1
4 future applications
An over view of Explain applications used in
Robotics present and robotics Chalk &Talk T1, T2 and R1
5 future applications
Components of the Define Components of the Chalk &Talk T1, T2 and R1
6 Industrial Robotics: Industrial Robotics
Define Components of the Chalk &Talk T1, T2 and R1
7 common types of arms Industrial Robotics
Components, Explain degrees of freedom
Architecture, number of Chalk &Talk T1, T2 and R1
8 degrees of freedom
Components, Explain degrees of freedom
Architecture, number of Chalk &Talk T1, T2 and R1
9 degrees of freedom
10 Design of end effectors Design of end effectors Chalk &Talk T1, T2 and R1
Define Precision of
PPT T1, T2 and R1
11 Precision of Movement: Movement:
Resolution, Accuracy Define Precision of
PPT T1, T2 and R1
12 and Repeatability Movement:
Speed of Response and Calculate Load Carrying
PPT T1, T2 and R1
13 Load Carrying Capacity Capacity
Speed of Response and Calculate Load Carrying
PPT T1, T2 and R1
14 Load Carrying Capacity Capacity
UNIT-II
Motion Analysis: Basic Define Motion Analysis:
Chalk &Talk T1, T2 and R1
15 Rotation Matrices
Equivalent Axis and Define Composite Rotation
Angle, Euler Angles, Matrices
Chalk &Talk T1, T2 and R1
Composite Rotation
16 Matrices
Equivalent Axis and Define Composite Rotation
Angle, Euler Angles, Matrices Chalk &Talk T1, T2 and R1
17 Composite Rotation

MECH IV Yr – I Sem. 16
 Matrices
Homogeneous Define applicable to rotation
transformations as and translation
Chalk &Talk T1, T2 and R1
applicable to rotation
18 and translation
Homogeneous Define applicable to rotation
transformations as and translation
Chalk &Talk T1, T2 and R1
applicable to rotation
19 and translation
problems. Manipulator Define Kinematics-H
Kinematics-H notation- notation
Chalk &Talk T1, T2 and R1
H method of Assignment
20 of frames-H
problems. Manipulator Define Kinematics-H
Kinematics-H notation- notation
Chalk &Talk T1, T2 and R1
H method of Assignment
21 of frames-H
problems. Manipulator Define Kinematics-H
Kinematics-H notation- notation
Chalk &Talk T1, T2 and R1
H method of Assignment
22 of frames-H
Transformation Matrix, Explain inverse kinematics
joint coordinates and
world coordinates, Chalk &Talk T1, T2 and R1
Forward and inverse
23 kinematics
Transformation Matrix, Explain inverse kinematics
joint coordinates and
world coordinates, Chalk &Talk T1, T2 and R1
Forward and inverse
24 kinematics
– problems on Industrial Calculate Robotic
Chalk &Talk T1, T2 and R1
25 Robotic Manipulation. Manipulation
– problems on Industrial Calculate Robotic
Chalk &Talk T1, T2 and R1
26 Robotic Manipulation. Manipulation
– problems on Industrial Calculate Robotic
Chalk &Talk T1, T2 and R1
27 Robotic Manipulation. Manipulation
– problems on Industrial Calculate Robotic
Chalk &Talk T1, T2 and R1
28 Robotic Manipulation. Manipulation
UNIT-III
Differential
transformation of Define transformation of Chalk &Talk T1, T2 and R1
29 manipulators manipulators
Calculate Jacobians –
Chalk &Talk T1, T2 and R1
30 Jacobians – problems problems

MECH IV Yr – I Sem. 17
 Calculate Jacobians –
Chalk &Talk T1, T2 and R1
27 Jacobians – problems problems
Dynamics: Lagrange –
Chalk &Talk T1, T2 and R1
28 Euler and Newton Define Dynamics
Dynamics: Lagrange –
Chalk &Talk T1, T2 and R1
29 Euler and Newton Define Dynamics
Euler formations – Calculate Euler formations –
Chalk &Talk T1, T2 and R1
30 Problems Problems
Euler formations – Calculate Euler formations –
Chalk &Talk T1, T2 and R1
31 Problems Problems
Trajectory planning and Chalk &Talk T1, T2 and R1
32 avoidance of obstacles, Explain Trajectory planning
Trajectory planning and
Chalk &Talk T1, T2 and R1
33 avoidance of obstacles, Explain Trajectory planning
path planning, Slew
motion, joint Chalk &Talk T1, T2 and R1
34 interpolated motion Explain path planning
path planning, Slew
motion, joint Chalk &Talk T1, T2 and R1
35 interpolated motion Explain path planning
path planning, Slew
motion, joint Chalk &Talk T1, T2 and R1
36 interpolated motion Explain path planning
straight line motion. Chalk &Talk T1, T2 and R1
37 Define straight line motion
straight line motion. Chalk &Talk T1, T2 and R1
38 Define straight line motion
UNIT-IV

Robot actuators and Explain Robot actuators and Chalk &Talk T1, T2 and R1
39 Feedback components Feedback components
Robot actuators and Explain Robot actuators and Chalk &Talk T1, T2 and R1
40 Feedback components Feedback components
Robot actuators and Explain Robot actuators and Chalk &Talk T1, T2 and R1
41 Feedback components Feedback components
Actuators: Pneumatic,
Hydraulic actuators, Define Pneumatic, Hydraulic Chalk &Talk T1, T2 and R1
42 electric & stepper motors actuators
Actuators: Pneumatic,
Hydraulic actuators, Define Pneumatic, Hydraulic Chalk &Talk T1, T2 and R1
43 electric & stepper motors actuators
Actuators: Pneumatic,
Hydraulic actuators, Define Pneumatic, Hydraulic Chalk &Talk T1, T2 and R1
44 electric & stepper motors actuators

MECH IV Yr – I Sem. 18
 comparison of Actuators,
Feedback components: Define Pneumatic, Hydraulic Chalk &Talk T1, T2 and R1
45 position sensors actuators
comparison of Actuators,
Feedback components: Define Pneumatic, Hydraulic Chalk &Talk T1, T2 and R1
46 position sensors actuators
potentiometers,
Chalk &Talk T1, T2 and R1
47 resolvers, encoders Explain encoders
potentiometers,
Chalk &Talk T1, T2 and R1
48 resolvers, encoders Explain encoders
Velocity sensors, Tactile
and Range sensors,
Chalk &Talk T1, T2 and R1
Force and Torque Explain Force and Torque
49 sensors sensors
Velocity sensors, Tactile
and Range sensors,
Chalk &Talk T1, T2 and R1
Force and Torque Explain Force and Torque
50 sensors sensors
Velocity sensors, Tactile
and Range sensors,
Chalk &Talk T1, T2 and R1
Force and Torque Explain Force and Torque
51 sensors sensors
Velocity sensors, Tactile
and Range sensors,
Chalk &Talk T1, T2 and R1
Force and Torque Explain Force and Torque
52 sensors sensors
Velocity sensors, Tactile
and Range sensors,
Chalk &Talk T1, T2 and R1
Force and Torque Explain Force and Torque
53 sensors sensors
54 PBLMS Chalk &Talk T1, T2 and R1

UNIT-V
Robot Application in
Manufacturing: Material Chalk &Talk T1, T2 and R1
55 Transfer - Explain Material Transfer -
Robot Application in
Manufacturing: Material Chalk &Talk T1, T2 and R1
56 Transfer - Explain Material Transfer -
Material handling,
Chalk &Talk T1, T2 and R1
57 loading and unloading Define Material handling
Material handling,
Chalk &Talk T1, T2 and R1
58 loading and unloading Define Material handling
Processing - spot and
continuous arc welding Explain spot and continuous Chalk &Talk T1, T2 and R1
59 & spray painting - arc welding & spray painting

MECH IV Yr – I Sem. 19
 Processing - spot and
continuous arc welding Explain spot and continuous Chalk &Talk T1, T2 and R1
60 & spray painting - arc welding & spray painting

Assembly and Inspection Explain Assembly and Chalk &Talk T1, T2 and R1
61 Inspection
Explain Assembly and
Chalk &Talk T1, T2 and R1
62 Assembly and Inspection Inspection
Explain Assembly and
Chalk &Talk T1, T2 and R1
63 Assembly and Inspection Inspection
Chalk &Talk T1, T2 and R1
64 REVISION

X. QUESTION BANK (JNTUH)

DESCRIPTIVE QUESTIONS:
Unit-I
SHORT ANSWER QUESTIONS
Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Explain industrial automation comprehensi CO1
on
2 Determine different types of robot configurations comprehensi CO1
on
3 Define a robot Define CO1
4 Classify the different types of sensors Classify CO1
5 Classify types of industrial automation Classify CO1
6 Explain different types of robot applications Explain CO1

LONG ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Explain the advantages and disadvantages of magnetic grippers? Explain CO1
Explain the two categories of magnetic grippers
2 Explain the degrees of freedom of a robot with sketches. Explain CO1
3 Explain the difference between hard automation, flexible automation Explain CO1
and robotics

MECH IV Yr – I Sem. 20
4 Explain the various types of joints used in robotics with sketches Explain CO1
5 Differentiate between servo and non – servo grippers. What are the Explain CO1
actuators used for such Grippers
6 Explain General considerations in gripper design. Explain CO1

Unit-II
SHORT ANSWER QUESTIONS
Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Define the basic rotation matrix about x axis Define CO2
2 Define the basic rotation matrix about Y axis Define CO2
3 Determine Euler angle Define CO2
4 Determine a process for basic rotation matrices. Define CO2
5 Define composite rotation matrices. Define CO2
6 Explain the composite rotation matrix about axis Explain CO2

LONG ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
Determine the homogenous transformation matrix and interprete the
1 Determine CO2
partitioning with application
2 Explain the inverse link coordinate transformation Explain CO2
3 Draw and explain with an example the composite rotation algorithm Define CO2
Explain Euler angles representation for the RPY system and derive Explain CO2
4
the rotation matrix
5 Define composite rotation matrices. Define CO2
Determine the Homogeneous transformation matrix to represent the CO2
6 following sequence of Operations. (i) Rotation 60º about the OX axis Determine
ii) Then translate 4 units along X- axis

Unit-III
SHORT ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Determine a Geometric Jacobi Determine CO2
2 Explain the Jacobian, Singularities in the revolute joints. Explain CO2
3 Determine how you solve simple inverse kinematic algorithm. Explain CO2
Determine the expression for joint toques for a planar R-P robotic Explain CO2
4
manipulator using Lagrangian – Euler Formulation.
5 Determine the Jacobian of the 3 DOF Euler wrist Explain CO2

MECH IV Yr – I Sem. 21
 LONG ANSWER QUESTIONS
Blooms
Course
S.No. Question Taxonomy
Outcome
Level
CO2,CO
1 Determine a Geometric Jacobian? Explain Determine
3
Discuss the Jacobian matrix of a planar two link revolute jointed CO2
2 Discuss
manipulator
Determine Jacobian, Singularities and Joint velocities for a 3 DOF CO2,CO
3 Determine 3
planar area with the revolute joints.
Design the dynamic model of a one axis robot (Inverted Pendulum) CO2
4 Design
with Lagrangian – Euler formulatio
Determine the expression for joint toques for a planar R-P robotic CO2
5 Determine
manipulator using Lagrangian – Euler Formulation.
6 Explain (1) Prismatic Joint Jacobian. 2) Rotary Joint Jacobian. Explain CO2

Unit-IV
SHORT ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Explain Trajectory Planning Explain CO2,CO
3
2 Explain path trajectory Explain CO2
3 Determine a 2R manipulator using path trajectory Explain CO2
4 Explain continuous path trajectory Explain CO2
5 Differentiate between path trajectory and continuous path planning Explain CO2
6 Explain the other planning methods for trajectory Explain CO2

LONG ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Differentiate Joint-Space versus Cartesian space trajectory planning? Explain CO2,CO
3
Explain the following terms in trajectory planning? 1. Path 2. Explain CO2
2 Trajectory 3. joint space trajectory planning 4. Cartesian space
trajectory planning
3 Write the steps in trajectory planning? Explain CO2,
CO3
4 List the use of a P-Degree polynomial as interpolation function. Explain CO2,CO
3
5 Detect Cubic polynomial Trajectories? Explain CO2
6 Explain the trajectory planning for continuous co ordinate system. Explain CO2

MECH IV Yr – I Sem. 22
 Unit-V
SHORT ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
CO4,CO
1 Explain the tasks of the robot in industries Explain
5
2 Discover the applications of robots in industries Understand CO4
3 Discuss the characteristics of robots in industrial applications Understand CO4
4 Explain the working mechanism of a assembly in manufacturing Understand CO4
5 Examine the application of forging in manufacturing using robots Understand CO4
6 State artificial skin allow the next generation of robots to do? State CO4

LONG ANSWER QUESTIONS

Blooms
Course
S.No. Question Taxonomy
Outcome
Level
1 Discuss, why a robot is considered as a 24/7 worker Discuss CO4,CO
5
Detect, what is the minimum number of degrees of freedom for Discuss
2 CO4,CO5
assembling
Discuss which type of manipulator is best suited for (a) machine Discuss
3 CO4,CO5
loading and unloading application ,(b) assembly application
4 Discover the type of industrial manipulators used in inspection Discuss CO4,CO5
5 Determine work volume for the industrial robots Discuss CO4,CO5
6 Criticize Why robots are useful in industries Discuss CO4,CO5

OBJECTIVE QUESTIONS
UNIT-I

1. Based on finger movement, Mechanical gripper can be classified as __________ [C]

a) Pivoting movement b)Linear or translational movement c) a & b d) None

2. A Spherical coordinate robot should have ________ joints [C]

(a) One revolute and two prismatic (b) Three prismatic (c) Two revolute and one prismatic
(d) a, b& c

3. Based on the coordinate system robots can be classified as_________ robots. [D]
(a) Cartesian (b) Spherical (c) Cylindrical (d) a, b& c

4).A manipulator with 6 DOF is ______________ [D]

(a) 1-D Manipulator (b) 2-D Manipulator (c) 3-D Manipulator (d) Spatial Manipulator

5. Technology that is concerned with the use of mechanical, electronic and computer based
systems in the operation and control of production [B]

MECH IV Yr – I Sem. 23
(a) Mechanization (b) Automation (c) Industrialization. (d) All the above.

FILL IN THE BLANKS

1. Work station continues to operate with no part to work on” is called… ……..
(Starving of stations)

2. Number of buffers in an n – staged line…….. ( n+1)

3. .__________ Robot comes under type of automation. (Flexible)

4. . Interface between the last link of the manipulator and the end effectors is
called…………..( Gripper)

5. Number degrees of freedom exhibited by robot wrist…………..(3)

UNIT-II
1. 1. If the orientation changes without the change of position then the transformation is ___
[B]
(a) Pure translation (b) pure rotation (c) Combined transformation (d) none

2. ____________ can be considered as Differential motions of a frame. [D]

(a) Differential translations (b) differential rotations (c) Differential transformations (d) a, b,
&c

3. The matrix representing the Euler angles orientation change is ________ [A]
(a) Rot (a,) Rot (o, Rot (o, ψφș) (b) Rot (o, ș) (c) Rot (a,) Rot (a, Rot (o, ψφș) (d) None

4. Following is the robotic like device. [D]

(a) Telecherics (b) Exo-skeleton (c) Locomotive device (d) All the above

5. Number of linear co-ordinates in a cylindrical co-ordinate robot. [A]

(a) 2 (b) 3 (c) 1 (d) 0

FILL IN THE BLANKS

1. . If A- is a non-singular square matrix, then A-I = ……………….( adjA X detA)

2. Using ___________kinematic equations, one can calculate where the robot is at any
instant If all the robot joint variables are known (Inverse)

3. The DOF is also equal to the number of ______ in the open kinematic chain(Joints)

4. Dynamic equations of motion of robot arm allows………….(Analysis, Synthesis &

Simulation)

MECH IV Yr – I Sem. 24
 5. Measure of mass distribution……………………..( Radius of gyration, acceleration &
moment of inertia)

UNIT-III

1. Jacobian relates the velocities of joints to the velocities of ………………. [B]

(a)Tool point (b) Manipulator (c) Joint (d) None of the above.

2. As the complexity of the system increases, the __________ method becomes relatively
simpler to use. [B]
(a) Newtonian- Euler (b) Lagrangian-Euler (c) a & b (d) none

3. Jacobian relates the velocities of joints to the velocities of ………………. [B]

(a)Tool point (b) Manipulator (c) Joint ( d)None of the above.

4. Lagrangian Function L= f( Kinetic Energy, Potential Energy )=………… [B]

(a) KE + PE (b) KE – PE (c) KE ÷ PE (d) PE ÷KE

5. As the complexity of the system increases, the __________ method becomes relatively
simpler to use. [B]
(a) Newtonian- Euler (b) Lagrangian-Euler (c) a&b (d) none

FILL IN THE BLANKS

1. Newton – Euler formulation is used to analyze the ……behavior of the manipulator
(Static)

2. The relation between Lagrangian function (L), total kinetic energy (K) and total
potential energy of a mechanical system is ____________( L=K-P)

3. In Lagrange – Euler Equation is ……………( ) Acceleration (a i))

4. As the complexity of the system increases, the __________ method becomes

(Lagrangian-Euler)

5. The LE and NE presented in this chapter provide a symbolic solution to __________(

Manipulator)

UNIT-IV
1.__ space trajectories are computationally extensive, and require a faster processing time.
[B]
(a) Joint (b) Cartesian (c) a & b (d) none

2. An N-joint manipulator will have………….number of trajectory segments [C]

(a) 3N (b) 5N (c) (a) and (b) (d) none of the above

3. Mathematical functions used in trajectory planning problems. [A]

MECH IV Yr – I Sem. 25
(a) Fourier (b) Laplace (c) Polynomial (d) all the above.

4.________ schemes can be used in joint-space trajectory planning. [C]

(a) Third- order polynomial (b) fifth- order polynomial (c) a & b (d) none

5. Third-degree polynomial can be used with __________ number of constraint

s. [D] (a) 1 (b) 2 (c) 3 (d) 4

FILL IN THE BLANKS

1. An N-joint manipulator will have………….number of trajectories.( (N+1))
2. . Mathematical functions used in trajectory planning problems. (Fourier)
3. Differential change in the manipulator can be computed by……………….( Jacobian
& Inverse Jacobian)

4. Using ___________kinematic equations, one can calculate where the robot is at any
instant If all the robot joint variables are known (inverse)
5. In fixed angle representation, ordering of rotation is from……….( left to right)

UNIT-V
1. If the orientation changes without the change of position then the transformation is ___ [
B]
(a) Pure translation (b) pure rotation (c) Combined transformation (d)none
2. ____________ can be considered as Differential motions of a frame. [D]
(a) Differential translations (b) differential rotations (c) Differential transformations (d) a, b,
&c
3. The matrix representing the Euler angles orientation change is ___________ [A]
(a) Rot(a,)Rot(o,Rot(a,ψșφ (b) Rot(o,ș) (c)Rot(a,)Rot(a,Rot(o,ψφș (d) none
4. Following is the robotic like device. [A] (a) Telecherics ( b) exo-skeleton (c) locomotive
device (d) all the above
5. Number of linear co-ordinates in a cylindrical co-ordinate robot. [A]
(a) 2 (b) 3 (c) 1 (d) 0 45.

FILL IN THE BLANKS

1. Type of robot used in spray painting applications is ………… (continuous path)
2. Jacobian relates the velocities of joints to the velocities of ……………….
[(Manipulator)
3. If A- is a non-singular square matrix, then A -I = ……………….( adjA X detA)
4. Lagrangian Function L= f( Kinetic Energy, Potential Energy )=…………( KE – PE)
5. Type of control used in Cartesian robot is………………( servo)
XI. WEBSITES:
1. www.nptel.com

Additional Reading:
NPTEL WEB COURSE:

https://nptel.ac.in/courses/112101099/

MECH IV Yr – I Sem. 26
https://nptel.ac.in/courses/112101099/1
https://nptel.ac.in/courses/112101099/2
https://nptel.ac.in/courses/112101099/3

NPTEL Video Course:

http://www.nptelvideos.in/2012/12/robotics.html
http://www.nptelvideos.in/2012/12/robotics.html/1
http://www.nptelvideos.in/2012/12/robotics.html/2
http://www.nptelvideos.in/2012/12/robotics.html/3
http://www.nptelvideos.in/2012/12/robotics.html/4
http://www.nptelvideos.in/2012/12/robotics.html/5
http://www.nptelvideos.in/2012/12/robotics.html/6

MECH IV Yr – I Sem. 27