MESCol

l
egeofEngi
neer
ing,
Pune
Mechani
cal
Engi
neer
ingDepar
tment
Subj
ect
:Robot
ics
MCQsonUni
tNo.01
Q.
1)TheRobotdesi
gnedwi
thCar
tesi
ancoor
dinat
esy
stemshas
A)Thr
eeli
nearmov ements
B)Thr
eerotat
ionalmovements
C)Twoli
nearandonerotati
onalmov
ement
D)Tworotati
onalandoneli
nearmovement
Q.
2)TheRobotdesi
gnedwi
thAr
ti
cul
atedcoor
dinat
esy
stemshas
A)Threeli
nearmovements
B)Threerot
ati
onalmovement
s
C)Fourli
nearmovements
D)Fourrot
ati
onalmovement
s
Q.
3)Whi
choft
hef
oll
owi
ngi
snotbasi
ccomponent
sofr
obot
s
A)Pal
l
et
B)Powersuppl
y
C)Memoryconsol
e
D)Mechani
calUni
t
Q.4)Whichoft
hef
oll
owi
ngt
ermsr
efer
stot
her
otat
ional
mot
ion
ofarobotarm?
A)Swi
vel
B)Axl
e
C)Ret
rogr
ade
D)Rol
l
Q.5)Whichofthebasi
cpart
sofar
obotuni
twoul
dincl
udethe
computerci
rcuit
ryt
hatcoul
dbepr
ogr
ammedt odet
erminewhat
t
her
obotwoul
ddo?
A)Sensor
B)Controll
er
C)Arm
D)Endeffector
Q.
6)Whichofthef
oll
owi
ngi
snott
hemai
nobj
ect
ive(
s)of
I
ndust
ri
alRobot?
A)Tominimisethelabourrequi
rement
B)Toi
ncreaseInvestmentcost
C)Toi
ncreaseproductivi
ty
D)Toenhancethelifeofproducti
onmachi
nes
Q.
7)Whi
choft
hef
oll
owi
ngi
snotbenef
it
sofr
obotar
cwel
ding?
A)Hi
gherpr oduct
ivi
ty
B)I
mpr ovedsafety
C)Processrati
onali
zat
ion
D)Quali
tyreducti
on
Q.
8)Howmanydegr
eesoff
reedom woul
dhav
eini
ndust
ri
alr
obot
?
A)Fi
ve
B)Three
C)Seven
D)six
Q.
9)TheRobotdesi
gnedwi
thPol
arcoor
dinat
esy
stemshas
A)Twoli
nearandonerotati
onalmov
ement
B)Thr
eerotati
onal
mov ements
C)Oneli
nearandtworotor
y
D)Thr
eelinearmovements
Q.10)Whi
char
ethetwoty
pesofwel
dingoper
ati
onsbasi
cal
l
y
perf
ormedbyt
herobot
s?
A)sol
i
dst
atewel
dingandspotwel
ding
B)Arcweldi
ngandspotweldi
ng
C)Ther
mitweldi
ngandspotweldi
ng
D)Arcwel
dingandsol
idst
atewelding
Q.
11)Ar
ti
cul
atedRoboti
scommonl
yusef
or
A)packagi
ng
B)weldi
ng
C)3Dprint
ing
D)pi
ckandpl ace

Q.
12) _
___gr
ipper
sar
eusedt
otr
ansf
erf
err
ousmat
eri
al.
A)Magnet
icgr
ipper
s
B)Mechani
cal
gri
pper
s
C)Adhesi
vegr
ipper
s
D)Vacuum cupgr
ipper
s

Q.13)Thespeedatwhi
chroboti
scapabl
eofmani
pul
ati
ngi
ts
endeff
ectori
sknownasthe__
__.
A)Vel
oci
tyofr
obot
B)Maxi
mum r
each
C)Speedofmov
ement
D)Loadcar
ryi
ngcapaci
ty

Q.
14)_ _
__i
sacol
l
ect
ionofmechani
cal
li
nkageconnect
edby
j
oint
s.
A)Endef
fect
or
B)Gr
ipper
C)Sensor
D)Mani
pul
ator

Q.
15)Gr
ipper
sar
eusedt
o__
___
.
A)Hol
dtheobj
ect
s
B)Senset
heobj
ect
s
C)Mov
etheobj
ect
s
D)Bot
h(A)&(
C)
Q.16)__
__gri
ppersar
eusedt
opi
ckupl
i
ghtwei
ghtmat
eri
als
suchaspaper
,cl
othet
c.
A)Mechani
cal
gri
pper
s
B)Adhesi
vegr
ipper
s
C)Vacuum cupgr
ipper
s
D)Magnet
icgr
ipper
s

Q.
17)From whi
choft
hef
oll
owi
ngi
sty
peofgr
ipperusedi
n
r
oboti
cs.
A)Mechani
cal
gri
pper
B)Adhesi
vegr
ipper
C)Bot
h(A)&(
B)
D)Noneoft
heabov
e

Q.
18)Endef
fect
ori
sadev
icet
hati
sat
tachedt
other
obot-
--
--
-
A)cont
rol
l
er
B)pr
ocessor
C)ar
m
D)shoul
der

Q.19)Whi
choft
hef
oll
owi
ngi
snotagr
ipperusedi
nrobot
ics?
A)Mechani
cal
B)Manual
C)Pneumat
ic
D)Magnet
ic
Q.20)Whi
choft
hef
oll
owi
ngi
snotamechani
cal
gri
pper
?
A)Rackandpi
nion
B)Cam act
uat
ed
C)Hooksandscoops
D)Scr
ewact
uat
ed

Q.
21Gr
ipper
sar
eusedf
or
A)Mat
eri
alHandl
i
ng
B)Obj
ectdet
ect
ion
C)Vi
sion
D)Manuf
act
uri
ng

Q.22)Forgri
ppi
ngalongstainl
essst
eelpl
ateoft
hickness10
mm, whichoneoft
hefol
lowinggri
ppersi
srecommended?

A)Cam act
uat
edmechani
cal
gri
pper
B)Gr
ipperwi
thr
otar
yact
uat
ion
C)Magnet
icgr
ipper
D)Vacuum gr
ipper

Q.23)Sof
tgr
ipperusedi
nrobot
sisonehav
ing
A)poi
ntcont
actbet
weent
hef
ingerandobj
ect
.
B)ar
eacont
actbet
weent
hef
ingerandobj
ect
.
C)l
i
necont
actbet
weent
hef
ingerandobj
ect
.
D)noneoft
heabov
e.
Q.24)Whi
chrobot
shavet
wopar
all
elr
otar
yjoi
ntst
hatpr
ovi
de
compli
ancei
naplane?
A)Del
taRobot
s B)Ar
ti
cul
atedRobot
C)SCARARobot
s D)Car
tesi
anRobot
s
Q.
25)Whichtypesofi
ndustr
ial
robotheavi
l
yusedf or
manuf
actur
inginthef
ood,pharmaceuti
calandel
ectr
oni
c
i
ndust
ri
es?
A)Car
tesi
anRobot
s B)SCARARobot
s
C)Ar
ti
cul
atedRobot D)Del
taRobot
s
Q.
26)Thefol
l
owingt
ypeofr
oboti
smostsui
tabl
eforpi
ckand
pl
aceoper
ati
ons
A)Rect
angul
ar B)cy
li
ndr
ical
C)spher
ical D)j
oint
edar
mty
pe
Q.
27)Ar
obot
’sar
misal
soknownasi
ts
A)endef
fect
or B)act
uat
or
C)mani
pul
ator D)ser
vomechani
sm

Answer
s:
1.(
a) 2.(
b) 3.(
a) 4.(
d) 5.(
b)
6.(
a)
7.(
d) 8.(
d) 9.(
c) 10.(
a) 11.(
a)
12.(
a)
13.(
c) 14.(
d) 15.(
d) 16.(
b) 17.(
c)
18.(
c)
19.(b) 20.(
c) 21.(
a) 22.(
d) 23.(
b) 24.
(c)
25.(
d) 26.
(a) 27.
(c)
 Uni
tno.
02

Q.1)Sensor
sar
ethet
ransducer
sthatar
eusedt
o__
__.
A)Measur
ephy
sical
quant
it
y
B)Hol
dtheobj
ect
s
C)Fi
xtheobj
ect
s
D)Noneoft
heabov
e
Q.
2)Sensor
swhichar
ecomeincontactwit
hsomesurf
acet
o
measur
eddesi
redphy
sical
var
iabl
eareknownas_
___
.
A)Non-
cont
actsensor
s
B)Pr
oxi
mit
ysensor
s
C)Cont
actsensor
s
D)Noneoft
heabov
e

Q.
3)Fr
om whi
choft
hef
oll
owi
ngi
sknownascont
actsensor
.
A)Tact
il
esensor
B)Pr
oxi
mit
ysensor
C)Vi
sual
sensor
D)Rangedet
ect
or
Q.4)Fr
om whi
choft
hef
oll
owi
ngi
sknownasnon-
cont
actsensor
.
A)For
cesensor
B)Tact
il
esensor
C)Pr
oxi
mit
ysensor
D)Noneoft
heabov
e

Q.5)____sensor
sar
eusedt
oindi
cat
epr
esenceorabsenceof
hotobj
ects.
A)Vi
sionsensor
s
B)I
nfr
aredsensor
s
C)Phot
o-met
ri
csensor
s
D)Rangedet
ect
ors

Q.6)_ __
_sensor
sar
eusedt
oident
if
yobj
ect
sforpi
ckandpl
ace
purpose.
A)Rangedet
ect
ors
B)I
nfr
aredsensor
s
C)Vi
sionsensor
s
D)Phot
o-met
ri
csensor
s

Q.
7)Sensor
sinwhi
chthereisnoneedtocontactt
hesur
faceto
measur
ethepar
ameteroranyvar
iabl
esareknownasthe____.
A)Tact
il
esensor
s
B)Touchsensor
s
C)Non-
cont
actsensor
s
D)For
cesensor
s

Q.
8)Fr
om whi
choft
hef
oll
owi
ngi
sthef
unct
ionofsensor
s.
A)I
nspect
ionofpar
tst
odet
ermi
nei
tsposi
ti
on
B)Tohol
dthepar
ts
C)Tomov
ethepar
ts
D)Noneoft
heabov
e

Q.9)Li
mitswi
thcesandmi
croswi
tchesar
etheexampl
esof
A)TouchSensor
B)For
ceSensor
C)RangeSensor
D)Posi
ti
onsensor

Q.
10)Thet
ouchsensor
sal
socal
l
edas
A)Bi
nar
ysensor
s
B)Anal
ogsensor
C)Posi
ti
onsensor
D)Rangesensor
Q.
11)Whatisthenamef
ori
nfor
mat
ionsentf
rom r
obotsensor
s
t
orobotcont
roll
ers?
A)Temper
atur
e B)Pr
essur
e
C)Feedback D)Si
gnal
Q.
12)Dr
ivesar
eal
soknownas
A)Act
uat
ors B)Cont
rol
l
er
C)Sensor
s D)Mani
pul
ator
Q.
13)I
nter
nal
stat
esensor
sar
eusedf
ormeasur
ing_
___
___
___of
t
heendeff
ect
or.
A)Posi
ti
on B)Posi
ti
on&Vel
oci
ty
C)Vel
ocit
y&Accel
erat
ion D)Posi
ti
on,
Vel
oci
ty&
Accel
erat
ion

Q.
14)Whi
choft
hef
oll
owi
ngdr
ivesy
stem i
snotusedi
nrobot
ics?
A)Hy
draul
i
c B)Manual
C)Pneumat
ic D)El
ect
ri
cmot
or
Q.15)I
far obotcanal
terit
sownt r
aject
oryi
nresponset
oext
ernal
condit
ions,i
tisconsi
deredtobe
A)I
ntel
l
igent B)Mobi
l
e
C)Nonser
vo D)Openl
oop
Q.
16)Act
uat
orsar
eal
soknownas
A)Sensor
s B)Cont
rol
l
er
C)Dr
ives D)Mani
pul
ator
Q.
17)Whi
choft
hef
oll
owi
ngi
snotamechani
cal
act
uat
ors
A)Ti
mingbel
ts B)Gearpai
rs
C)GearMot
ors D)Har
moni
cDr
ives
Q.18)Theoper ati
onoft
hevisi
onsyst
em consi
stsoft
hree
funct
ions:sensinganddi
git
izi
ngi
magedata,Imagepr
ocessi
ng
andanalysisand..
A)Pr
ocessi
ng B)Appl
i
cat
ion
C)Or
ient
ati
on D)Descr
ipt
ors
Q.
19)Funct
ionsofMachi
neVi
sionsy
stem i
nRobot
icsi
s
a.Sensi
nganddi
git
izi
ngi
magedat
ab.I
magePr
ocessi
ng
andanalysi
s
c.Appl
i
cat
ion d.Al
loft
hese

20)Whi
chofthef
oll
owi
ngi
sincl
udedi
nAppl
i
cat
ionf
unct
ion
Machi
neVi
sionSyst
em?
a.Camera,Fr
ameGr abber
b.Monit
or,Keyboar
d, Datast
orage
c.RobotContr
oll
erInterf
ace
d.Botha&b
21)I
nMachi
nev
isi
onsy
stem Segment
ati
onmeans
a)Iti
sthemet hodt
ogr
oupar
easofani
magehav
ingsi
mil
ar
charact
eri
sti
cs
orf
eat
uresi
ntodi
sti
nctent
it
iesr
epr
esent
ingpar
toft
hei
mage.
b)Iti
sabinaryconv
ersi
ont
echni
quei
nwhi
cheachpi
xel
is
conver
tedint
oa
bi
nar
yval
ueei
therbl
ackorwhi
te.
c)
Iti
sacol
l
ect
ionofsegment
ati
ont
echni
quesi
nwhi
chpi
xel
s
ar
egr
oupedinr
egi
onscal
l
edgr
idel
ement
sbasedonat
tri
but
e
si
mil
ari
ti
es.
d)Invi
sionappli
cat
ionsdi
sti
ngui
shi
ngoneobj
ectf
rom anot
heri
s
accomplishedbymeans
off
eat
uresthatuniquel
ychar
act
eri
zet
heobj
ect
.Af
eat
ure(
area,
di
amet
er,andperimeter
)
i
sasinglepar
amet
ert
hatper
mit
seaseofcompar
isonand
i
dent
if
icati
on.

22)I
nMachi
nev
isi
onsy
stem Thr
eashol
dingmeans
a)Iti
sthemet hodt
ogr
oupar
easofani
magehav
ingsi
mil
ar
charact
eri
sti
cs
orf
eat
uresi
ntodi
sti
nctent
it
iesr
epr
esent
ingpar
toft
hei
mage.
b)Iti
sabinaryconv
ersi
ont
echni
quei
nwhi
cheachpi
xel
is
conver
tedint
oa
bi
nar
yval
ueei
therbl
ackorwhi
te.
c)
Iti
sacol
l
ect
ionofsegment
ati
ont
echni
quesi
nwhi
chpi
xel
s
ar
egr
oupedinr
egi
onscal
l
edgr
idel
ement
sbasedonat
tri
but
e
si
mil
ari
ti
es.
d)Invi
sionappli
cat
ionsdi
sti
ngui
shi
ngoneobj
ectf
rom anot
heri
s
accomplishedbymeans
off
eat
uresthatuniquel
ychar
act
eri
zet
heobj
ect
.Af
eat
ure(
area,
di
amet
er,andperimeter
)
i
sasinglepar
amet
ert
hatper
mit
seaseofcompar
isonand
i
dent
if
icati
on.
23)I
nMachi
nev
isi
onsy
stem Regi
ongr
owi
ngmeans
a)Iti
sthemet hodt
ogr
oupar
easofani
magehav
ingsi
mil
ar
charact
eri
sti
cs
orf
eat
uresi
ntodi
sti
nctent
it
iesr
epr
esent
ingpar
toft
hei
mage.
b)Iti
sabinaryconv
ersi
ont
echni
quei
nwhi
cheachpi
xel
is
conver
tedint
oa
bi
nar
yval
ueei
therbl
ackorwhi
te.
c)
Iti
sacol
l
ect
ionofsegment
ati
ont
echni
quesi
nwhi
chpi
xel
s
ar
egr
oupedinr
egi
onscal
l
edgr
idel
ement
sbasedonat
tri
but
e
si
mil
ari
ti
es.
d)Invisi
onappl i
cati
onsdisti
nguishi
ngoneobjectfrom anot
heris
accomplishedbymeansoff eat
uresthatuni
quelychar
acteri
zethe
object
.A f eatur
e( area,diameter,and peri
meter)is a singl
e
parameterthatpermitseaseofcompar i
sonandidenti
fi
cati
on.

25)I
nMachi
nev
isi
onsy
stem Feat
ureExt
ract
ionmeans
a)Iti
sthemet hodt
ogr
oupar
easofani
magehav
ingsi
mil
ar
charact
eri
sti
cs
orf
eat
uresi
ntodi
sti
nctent
it
iesr
epr
esent
ingpar
toft
hei
mage.
b)Iti
sabinaryconv
ersi
ont
echni
quei
nwhi
cheachpi
xel
is
conver
tedint
oa
bi
nar
yval
ueei
therbl
ackorwhi
te.
c)
Iti
sacol
l
ect
ionofsegment
ati
ont
echni
quesi
nwhi
chpi
xel
s
ar
egr
oupedinr
egi
onscal
l
edgr
idel
ement
sbasedonat
tri
but
e
si
mil
ari
ti
es.
d)Invi
sionappli
cat
ionsdi
sti
ngui
shi
ngoneobj
ectf
rom anot
heri
s
accomplishedbymeans
off
eat
uresthatuniquel
ychar
act
eri
zet
heobj
ect
.Af
eat
ure(
area,
di
amet
er,andperimeter
)
i
sasinglepar
amet
ert
hatper
mit
seaseofcompar
isonand
i
dent
if
icati
on.

26)Whatar
ethecommoni
magi
ngdev
iceusedf
orr
obotv
isi
on
syst
ems?
a)Bl
ackandwhi
teVi
deoconcamer
a b)Moni
tor
c)char
gecoupl
eddev
ices,
sol
i
d-st
atecamer
a d)bot
ha&c

27)Robot
icsSensori
sdev
ice
a)Conv
ertphy
sical
quant
it
iesi
ntopr
opor
ti
onal
elect
ri
cal
si
gnal
b)Conv
ertanal
ogsi
gnal
int
odi
git
alsi
gnal
c)Conver
tst
heoneform ofinf
ormati
oni
ntoanot
herf
orm
wi
thoutchangi
ng theI
nfor
mat i
oncontent
.
d)Bot
ha&c

28)Numberofquant
izat
ionl
evel
iscal
cul
atedas
 a)2n-
1 b)2n c)1/
2n d)
2n
-
2

29)Fr
om thefi
gureshownbel
ow,
det
ermi
necy
cledi
stance&
ampli
tudeofweldi
ngoper
ati
on

A)
3&10r
espect
ivel
y b)7&3r
espect
ivel
y
c)10&7r
espect
ivel
y d)2&10r
espect
ivel
y

Answer
s:
1.(
a) 2.(
c) 3.(
a) 4.(
c) 5.(
b)
6.(
c)
7.(c) 8.(
a) 9.(
a) 10.(
a) 11.(
c)
12.(b)
13.(
d) 14.(
b) 15.(
a) 16.(
c) 17.(
c) 18.(
b)
19.(
d) 20.(
c) 21.(
a) 22.(
b) 23.(
c) 24.(
d)
25.(
d) 26.
(d) 27.
(c) 28.
(c) 29.
(c)
 Uni
t-
3

1. Mechani
cal
mani
pul
ator
,li
nkconnect
edi
nser
iesbywhi
ch
j
oint
?
(
a)r
evol
uteandpr
ismat
ic
(b)bi
nar
yandt
ernar
y (
c)l
i
nearandr
otar
y(d)quat
ernar
yand
binar
y

2. Homogeneoustransf
ormati
onisusedf
orsol
vi
ngwhi
cht
ype
ofequat
ionofar
obotmanipul
ator
?
(a)Eul
erequat
ion (b)dynami
cequat
ion (
c)ki
nemat
ic
equati
on (d)l
i
nearequat
ion

3. Whi
chi
sabr
anchofmechani
csconcer
nedwi
tht
hest
udyof
f
orcesandt
orquesandt
hei
ref
fectonmot
ion?
(a)Ri
gidBody(
b)Dy
nami
cs (
c)Equat
ionsofMot
ion (
d)
Kinemati
cs

4. ClockwiseorAnticl
ockwiserot
ati
onaboutt
hev
ert
ical
axi
s
tot
heperpendicul
arar
mi sprovi
dedthr
ough
(a)act
uator ( b)mani
pul
ator (
c)endef
fect
or (
d)
servomechani
sm

5. Aconf
igur
ati
onf
orar
oboti
s
(
a)oct
agonal(
b)obl
ong (
c)squar
e (
d)spher
ical

6. Todescri
bethelocat
ionofonecoor
dinat
esy
stem r
elat
ivet
o
anot
her
,whi
chtypeofmatrixi
sused?
(
a)singl
ematr
ix ( b)posi
ti
onmat
ri
x(c)r
otat
ionmat
ri
x (
d)
t
ransfor
mat
ionmat
ri
x

7. Manipul
atormot
ionequat
ionexpr
essedt
hroughwhi
ch
for
mul
ati
on?
(
a)zagrangi
andynamicfor
mulat
ion (
b)denav
it-
har
tenber
g
(
c)l
agrange-eul
er (d)eul
erf
orm

8. Thenumberofgener
ali
zedcoor
dinat
esofaf
ixed-
based
roboti
s
(
a)common (
b)uni
que(
c)di
ff
erent (
d)basi
c

9. Mechani
cal
mani
pul
atormodel
l
edas
(
a)cl
osedl
oop(
b)f
ini
tel
oop (
c)openl
oop (
d)cont
rol
loop

10. howmanydegr
eesoff
reedom woul
dhav
eini
ndust
ri
al
robot?
(
a)f
ive (
b)t
hree (
c)Sev
en(
d)si
x

11. Thechoi
ceofgener
ali
zedcoor
dinat
esf
oranar
ti
cul
ated
robotar
mis
(
a)common (
b)uni
que(
c)di
ff
erent (
d)notuni
que

12. Whichisanabst
ract
ionofasol
i
dinwhi
chdef
ormat
iondoes
notoccur.
(a)Ri
gidBody(
b)Dy
nami
cs (
c)Equat
ionsofMot
ion (
d)
Kinemati
cs

13. Di
spl
acementofabodyi
sa_
___
___
___
_quant
it
y.
(
a)scal
ar(
b)v
ect
or(
c)per
pendi
cul
ar (
d)scal
arandv
ect
or

14. Howmanynumberofaxesr
equi
redi
nrobotf
ormachi
ne
l
oadi
ngappl
i
cati
on?
(
a)3t
o4(
b)4t
o5(
c)2t
o3(
d)1t
o2

15. Thef
oll
owi
ngt
ypeofr
oboti
smostsui
tabl
eforpi
ckand
pl
aceoper
ati
ons
(
a)r
ect
angul
ar(
b)cy
li
ndr
ical(
c)spher
ical (
d)j
oint
edar
mty
pe

16. I
nthefourdegreesoffr
eedom ofmani
pul
ator
,j
oint1el
bows
rot
ati
onaboutwhichaxis?
(a)aboutt
heaxi
sparall
eltotheadj
ointaxi
s (b)Aboutanaxi
s
perpendi
cul
ar(c)aboutli
nearaxi
s(d)AboutZ-axi
stotheZ-
axis

17. Theuni
tofl
i
nearaccel
erat
ioni
s
(
a)kg-
m (
b)m/
s (
c)m/
s2 (
d)r
ad/
s2

18. TheRobotdesi
gnedwi
thPol
arcoor
dinat
esy
stemshas
(
a)Twoli
nearandoner
otati
onalmovement (
b)Thr
eer
otat
ional
movement
s ( c)Onel
inearandtworot
ary (
d)Thr
eel
i
near
movement
s

19. Thefourbasi
cconf i
gurat
ionst
hatcanbecombi
nedt
o
produceavari
etyofroboti
c,
combinat
ionsare:
,
spheri
cal
,
cyli
ndri
cal
,Arti
cul
atedand__
_____
_____
(
a)squar
e (
b)Car
tesi
an (
c)obl
ong (
d)oct
agonal
20. Cl
ockwiseofAnticl
ockwiserot
ati
onaboutt
hev
ert
ical
axi
s
tot
heperpendicul
arar
mi sprovi
dedthr
ough
(a)Shoul
derswi
vel(
b)El
bowext
ensi
on(
c)Ar
m sweep(
d)Wr
ist
bend

21. Howmanynumberofaxesr
equi
redi
nrobotf
ormat
eri
al
tr
ansferappl
i
cat
ion?
(
a)3t
o4(
b)4t
o5(
c)2t
o3(
d)1t
o2

22. Endef
fect
ori
sadev
icet
hati
sat
tachedt
other
obot
(
a)cont
rol
l
er (
b)pr
ocessor (
c)ar
m (
d)shoul
der

23. TheRobotdesi
gnedwi
thAr
ti
cul
atedcoor
dinat
esy
stemshas
(
a)Threeli
nearmovements (
b)Threerotati
onalmovements
(
c)Fourli
nearmovements (d)Fourrotati
onalmovements

24. TheRobotdesi
gnedwi
thCar
tesi
ancoor
dinat
esy
stemshas
(a) Thr
eelinearmovements(b)Thr
eer
otat
ionalmov
ement s
(c)Twol
inearandonerotat
ional
movement (d)Tworot
ati
onal
andoneli
nearmov ement

25. Whichoft
hef
oll
owi
ngt
ermsr
efer
stot
her
otat
ional
mot
ion
ofarobotar
m?
(
a) swi
vel (
b)axl
e (
c)r
etr
ogr
ade (
d)r
oll

Answer
s:

1.(
a) 2.(
c) 3.(
b) 4.(
b) 5.(
d) 6.(
d)
7.(
c) 8.(
b) 9.(
c) 10.(
d) 11.(
d) 12.(
a)

13.(
b) 14.(
b) 15.(
a) 16.(
d) 17.(
c) 18.(
c)

19.(
b) 20.(
c) 21.(
a) 22.(
c) 23.(
b) 24.(
a)

25.(
d)

Uni
tNo.04
1)Thest
udyoft
her
elat
ionbet
weenappl
i
edf
orces/
tor
queand
t
heresul
ti
ngmotionofanindust
ri
almani
pulat
ori
scall
edas-
--
--
-
--
--
--
--
-
a. 
RobotKi
nematicsb.
 I
nver
seKinemat
ics c. Robot
Dy
namic d.
 Noneoftheabove

2)Whenf
rom t
hegi
venj
ointf
orces/
tor
que,
resul
tantmot
ionof
r
obotmani
pul
atori
scal
cul
ated,
thi
sappr
oachi
sref
err
edas.
a. 
For
war
dKinemat
ics b. 
Forwar
dDy
nami
cs c.
 I
nver
se
Dy
namic d. 
Noneoftheabove

3)3)Whenf
rom t
hegi
venj
ointangl
esj
ointt
orque/
for
cesof
r
obotmani
pul
atori
scal
cul
ated,
thi
sappr
oachi
sref
err
edas.
a. 
For
war
dKinemat
ics b. 
Forwar
dDy
nami
cs c.
 I
nver
se
Dy
namic d. 
Noneoftheabove
4)Tof
ormul
atet
hedy
nami
cequat
ionf
orr
obotmani
pul
ator
whichoft
hefol
lowi
ngappr oach
isused
a. 
Newt
on-
EulerMet
hod b.  
Euler
-Langr
angi
anMet
hod
c.
 Botha&b d. Noneofthese

5)Eul
er–Langr angi
anappr oachi
sbasedon
a.Potent
ial&Kineti
cenergyofmani
pul
ator b.
 For
ce&
Moment um ofmanipulator c.  
Bot
ha&b
d.Noneoft hese

6) 
Newt on-Eul
erapproachisbasedon
a.Potenti
al&Kineti
cenergyofmanipul
ator b.
 For
ce&
Moment um ofmanipulator c.  
onl
yfor
ceofmanipul
ator
d.
noneoft hese

7)Newt on-
Eulerequati
onf orr
obotmani pulat
orisgivenbywhi
ch
oft
hef oll
owingequat i
on
Wher eF=Force,M=mass, a-accel
erat
ion, T=Torque,
I-
MomentofI nerti
a
ὰ-Angularaccelerat
ion
a)F=M* a&T=I *ὰ b)F=M*a c)T=I*ὰ

8)For ce(F)f
ortr
ansl
ati
onmot
ionofr
obotmanipul
atori
s
calculat
edas
a)F= { }
d ∂L ∂L
- b)F=
dt ∂ẋ ∂x {}
d ∂L ∂L
-
dt ∂x ∂x
c)F= { }
∂L ∂L
-
∂ẋ ∂x
∂L
d)F=
∂x
9)Forsy
stem showni
nfi
g.rest
ori
ngt
orque(
T)duedef
lect
ionof
angl
eӨisgivenbyequat
ion

2 2 2 2 2 2
a)ml(
dӨ/dt)+mgl
sinӨ b)ml (dӨ/dt )+mgl
cosӨ
2 2 2 2 2 2
c)ml(
dӨ/dt)+mgl
tanӨ d)ml(dӨ/dt)

10)Defi
neTraj
ector
yplanni
ngforrobot
Asequenceofrobotact
ivi
tyi
nparti
cul
aror
derwi
th
consi
deri
ngti
mei scal
ledas
t
raj
ector
yplanni
ng

11)Listdownthet
ypesofTraj
ect
oryplanningforr
obot
manipulat
or.
1.Cart
esi
anSpaceTraj
ect
ory2.JointSpaceTraj
ect
ory

12)Equat ionofcubicpol
ynomialt
raj
ectorywil
lbedef
inedas
2 2 3
a. a0+a1t+a2t b. 
a0+a1t
+a2t+a3t c. 
a0+a1t
2 3 4
d.
 a0+a1t+a2t+a3t+a4t
2 3
13)Forcubi cpol ynomial
traj
ectoryӨ(t)
= a0+a1t
+a2t +a3t
assumingt herobotmani pul
atormov es
From Ө0- Өfwi thi
nti
me0- tsec.&initi
al&finalvelocit
y
becomezer o,valuesofa0,
a1,
a2&a3
Respect i
vely
2 3 2
a. 
0,Ө0,3/t
f( Өf-
Ө0)&-2/t
f( Өf-
Ө0) b. 
0,Ө0,
2/tf(Өf-Ө0)&
3
-3/t
f( Өf-
Ө0)
2 3 2
c. 
1,Ө0,3/t
f( Өf-
Ө0)&-2/t
f( Өf-
Ө0) d.Ө0,0,3/tf(Өf-
Ө0)&
3
-2/t
f( Өf-
Ө0)
14)Thesecondj ointoft heSCARAmani pul
at orisrequiredto
movef rom 30°to150°i n5seconds,
theequat i
onofcubi ct r
ajectoryinterm oftf ordisplacement
,vel
ocity&acceler ationisgivenas
2 3 2
a.20+14.4t+1. 92t; 28.
8t+5.76t ;28.8-11.52trespectively
2 3 2
b.30+14.4t- 1.92t; 28.8t-5.
76t; 28.8-11.52trespectivel
y
2 3 2
c.30+14.4t+1. 92t; 28.8t+5.76t; 28.
8+11. 52trespect i
vely
2 3 2
d.20+14.4t+1. 92t; 28.8t+5.76t; 28.
8-11.52tr espectivel
y

15)Ar otaryar m ofamanipul atoristorotat

ef rom 23°to117°i
n9
seconds.Det erminecoeffi
cients
ofcubicpol ynomialt
oint erpolat
easmoot htrajectory
.
a.
 23,0,
-2.32,0.
386respect i
v el
y b. 
-23,
0,2.32,-
0.386
respectiv
ely
c.
 23,0,
2.32,-0.
386respect i
vely d. 
0,23,-
2.32,0.
386
respectiv
ely

16)Aj ointofPTPr obot,whichrotat

esfrom ani nit
ialangl
eof5°
tofinalangl eof65°i n5seconds
Deter minecoef f
icient
sofcubicpol
ynomial tointerpol
atea
smoot htr ajector
y .
a.
 5,0,4.80,-
1.44respecti
vely b. 5,
0,-4.80,
1.44
respecti
v ely
c.
 -
5, 0,4.
80,-1.
44r espect
ivel
y d. 0,
5,5.80,-
1.75
respecti
v ely

17)Listdownthepot enti
alfiel
dmet hodsf orrobotmanipulator
Unifor
mf i
eld,PerpendicularPotenti
alField,
Att
ract
ive
Potenti
alFi
eld,
Repulsi
vePot enti
alFi
eld,Tangent i
alPotential
Fiel
d,Select
ive
Potenti
alFi
eld,
Random Pot enti
alFi
eld.

18)
Pot
ent
ial
fiel
dmet
hodf
orr
obotmani
pul
atori
sthest
udyof
 a.
 repulsive 
potenti
alfi
eld duetothetar
getand
attr
active 
pot enti
alfi
eld 
duet ot heobst
acl
es
ofthewor l
d.
b.
 attr
act i
ve pot
ential
field duetot
hetargetand
repulsi
ve potent i
alfi
eld 
duet otheobstacl
es
ofthewor l
d.
c.
 Forcesi nrobotmani pulator
d.
 Noneoft hese
19)Thesecondj oi
ntoft heSCARAmani pul
atori
sr equiredto
movefrom 30°to150°i n5seconds
Fi
ndt hecubicpolynomialtogenerateasmoot htraject
oryof
j
oint
.Fi
ndt heangleat
whichmaximum v elocit
yoccursforthistr
ajectory.
a.
 36°/sec b.
 34.56°/
sec.c. 
-36°/sec d.  
-34.56°/sec.

20)Anactuat edj
ointofsixaxisroboti
stoberotat
edf r
om 20°to
80°in6seconds.
Det
er minecoeffi
cientsofcubicpol
ynomialt
ointerpolat
ea
smoothtrajector
y.
Fi
ndt heequationfordispl
acement,vel
oci
ty&accelerati
on
ter
m oft.

21)Thef i
rstj
ointof3Rr oboti storot
atef
rom 30°to60°in3
seconds.Determi necoeff
icients
ofcubicpolynomi alt
ointerpolat
easmoot htr
aject
ory.Fi
ndthe
val
uesof
angulardisplacement,angul arv
eloci
ty&angul
aracceler
ati
onfor
giv
ent i
mei ntervalt
.
Solut
ion:

Time
Equat
ion 0 1 2 3
(sec)
Ө(
t)
Ө’
(t
)
Ө’
’
(t)

22)
Ift
hesimplemot i
ondi
agram f
orcubicpol
ynomi
alofposi
ti
on
i
sasshowninfig.t
hen
Possi
blev
elocit
y&acceler
ati
onplotwil
lbe

a) b) c)

23)Ifthesimpl
emot i
ondi
agram forcubi
cpolynomi
alofposi
ti
on
i
sasshowni nf
ig.t
hen
Possi
blevel
ocit
y&accel
erat
ionplotwil
lbe
a) b) c)

d)Bot
ha&b

24)Wri
teequat
ionforSpr
ing–Massf
orcecont
rol
syst
em
F=Mx’’
+Kx+f
di
stur
b

25)Inwhichoft
hefoll
owi
ngoperat
ionsContinuousPathSy
stem
i
sused
(A)PickandPl
ace (
B)LoadingandUnloading
(C)Conti
nuouswel
ding (
D)Alloftheabove
26)Inwhichoft
hefoll
owi
ngoper
ati
onsPointtoPoi
ntPat
h
System i
sused
(A)PickandPl
ace (B)Spr
ayPainti
ng
(C)Conti
nuouswel
ding (
D)Alloft
heabove

Answer
s:

1.(
c) 2.(
a) 3.(
c) 4.(
c) 5.(
a) 6.(
b)
7.(
a) 8.(
a) 9.(
b) 10.(
d) 11.(
a) 12.(
b)

13.(d) 14.(
b) 15.(
c) 16.(
a) 17.(
b) 18.
(b)

19.(
a) 20.(
c) 21.(
a) 22.(
c) 23.(
d) 24.(
a)

25.(
c) 26.
(a)