PART – A

1. Define Robot
RIA defines a robot as a “programmable, multifunction manipulator designed to Move
materials, parts, tools or special devices through variable programmed motions for the
performance of the variety of task”.
2. Define Joints and Links
A link may be defined as a member (or) a combination of member of mechanism
connecting other members and having motion to them. Link of machine may transfer
both power and motion.
Joints helps the links to travel in different kinds of movements.
3. Name the commonly used Robot Configuration systems.
The commonly used robot configuration systems are
i. Cartesian coordinate system
ii. Cylindrical coordinate system
iii. Polar or spherical coordinate system
iv. Revolute coordinate system
4. Write Asimov’s Laws of Robotics.
The Three Laws of Robotics are as follows:
• A robot may not injure a human being or, through inaction, allow a human being to
come to harm.
• A robot must obey any orders given to it by human beings, except where such orders
would conflict with the First Law.
• A robot must protect its own existence as long as such protection does not conflict with
the First or Second Law.
5. What is meant by Workspace & Work volume?
The space in which the end point of the robot arm is capable of operating is called as a
workspace in other words reach abillity of robot arm is known as workspace.
The volume of the space swept by the robot arm is called work volume
6. What is meant by Accuracy, Precision & repeatability of Robot?
The robot’s ability to reach a reference point within the robot’s full work volume is
known as accuracy of robot.
Precision is the smallest increment of motion for which the robot can be controlled.
Repeatability refers to robot’s ability to return to the programmed point when it is
commanded to do so.
7. Classify the Motion Control of Robot arm.
• Limited sequence control
• Point to point control
• Continuous path control
• Intelligent control
8. What are the Basic components of Industrial Robot?
• Actuators
• Transmission systems
• Power supplies & power storage system
• Sensors
• Microprocessors & controllers
• Algorithms & softwares (higher level & lower level)
9. What is meant by Degrees of Freedom?
It is described as one of the variables required to define the motion of a body in space.
Each joint in a robotic system gives the robot one degree of freedom.
10. What are the advantages and Disadvantages of Robot?
Advantages
• Greater flexibility, reprogrammability, adjustable kinematics dexterity
• Greater response time to inputs than humans
• Improved product quality
• Maximize capital-intensive equipment in multiple work shifts.
Disadvantages
• Replacement of human labor
• More unemployment
• Significant retraining costs for both unemployed and users of new technology
• Advertising technology does not always disclose some of the hidden disadvantages
11. Define world coordinate system and tool coordinate system of Robot.
The world coordinate system that defines the robot cell, all other coordinate systems are
related to the world coordinate system, either directly or indirectly. It is useful for
jogging, general movements and for handling stations and cells with several robots or
robots moved by external axes.
The tool coordinate system defines the position of the tool the robot uses when reaching
the programmed targets.

12. Draw suitable diagram to represent Pitch, Yaw and Roll motion.
13. Define End Effector.
End effector is a device that is attached to the end of the wrist arm to perform specific
task.
14. What are the types of Gripper?
• Magnetic gripper
• Mechanical gripper
• Hooking gripper
• Vacuum gripper
15. What are the types of Mechanism used in Gripper?
• Linkage actuation gripper
• Gear and rack actuation gripper
• Cam actuation gripper
• Screw actuation gripper
16. What are the Advantages and Disadvantages of Magnetic Gripper?
Advantages
• Pickup time very fast
• Variation in part size can be tolerated. The gripper do not have to be designed
for one particular work part
• They have ability to handle metal parts with holes
• They require only one surface for gripping
Disadvantages
• Residual magnetism
• Side slippage
• More than one sheet will be lifted by magnet from a stack
17. What is Adhesive Gripper and state it’s limitation?
Adhesive gripper in which an adhesive substance performs the grasping action for
handling fabrics and other lightweight material are called adhesive gripper
Limitations
• Adhesive substance losses his tackiness on repeated usage
• Reliability is diminished with successive operations
18. List the advantages and features of Suction Cup Gripper.
• Require only one surface of the part for grasping
• Applies uniform pressure distribution on the surface of the part
• Relatively a lightweight gripper
• Applicable to a variety of different material.
19. What is meant by manipulator?
Manipulator is a machine has a function similar to those of the human upper limbs and
moves an object spatially from one location to another.
20. Define Actuator.
• They convert the electrical energy into meaningful mechanical work
• Mechanical output can be rotational or linear
• Motor provide motion
• Electromagnets provide linear motion
 PART - B

21. (i) Classify the Industrial Robots and briefly describe it. (7)

1.Stationary Robots

Stationary robots are robots those work without chaning their positions. Referring the robot as
“stationary” does not mean that the robot actually is not moving. What “stationary” means is the
base of the robot does not move during operation.

These kind of robots generally manipulate their environment by controlling the position and
orientation of an end-effector. Stationary robot category includes robotic arms, catesian robots,
cylinderical robots, spherical robots, SCARA robots and parallel robots.

1.1 Cartesian/Gantry Robots

1.2 Cylindrical Robots
1.3 Spherical Robots
1.4 SCARA Robots
1.5 Robotic Arms - (Articulated Robots )
1.6 Parallel Robots

2.Wheleed Robots

Wheeled robots are robots which change their positions with the help of their wheels. Wheeled
motion for a robot can be achieved easily in mechanical terms and its cost is pretty low.
Additionally control of wheeled movement is generally easier.

These reasons make wheeled robots one of the most frequently seen robots. Single wheeled
robots, mobile ball robots, two-wheeled robots, three-wheeled robots, four-wheeled robots,
multi-wheeled robots and tracked robots are examples of wheeled robots.

2.1 Single Wheel (Ball) Robots

2.2 Two-Wheeled Robots
2.3 Three Wheeled Robots
2.4.Four Wheeled Robots
2.5.Multi Wheeled Robots
2.6.Tracked Robots

3. Legged Robots

Legged robots are mobile robots, similar to wheeled robots, but their locomotion methods are
more sophisticated and complicated compared to their wheeled counterparts. As their name
suggests they use their legs to control their locomotion and they perform much better than
wheeled robots on uneven terrain.
 Despite the cost and complexity of production is high for these robots their advantages on
uneven terrain makes these robots indispensable for most applications. One-legged robots, two-
legged robots, three-legged robots, four-legged robots, six-legged robots and multi-legged robots
are examples of this robot class.

3.1.One Legged Robots

3.2.Two Legged – Bipedal Robots (Humanoids)
3.3.Three Legged – Tripedal Robots
3.4.Four Legged – Quadrupedal Robots
3.5.Six Legged Robots (6 Legged Hexapod)
3.6 Robots With Many Legs

4.Swimming Robots – Robot Fish

Swimming robots are robots which move underwater. These robots are generally inspired by
fish and they use their fin-like actuators to maneuver in water.

5.Flying Robots

Flying robots are robots that float and maneuver on air using their plane-like or bird/insect-like
wings, propellers or balloons. Examples of these robots are airplane robots, bird/insect inspired
wing flapping robots, proppeller based multicopters and balloon roobots.

6.Rolling Robotic Balls (Mobile Spherical Robots)

7.Swarm Robots

Swarm robots are robotic systems which consist of multiple small robots. These robots
structurally does not create a single united robot, but operates as their robot modules operate
cooperatively. Although similar to modular robotic systems, elements of swarm robots have
much less functionality and herd configurations does not create new robots.

8.Modular Robots

Similar to swarm robots, modular robotic systems also have multiple robots in their
configurations. Modules of these systems are more functional compared to a robotic herd. For
example a single module of a modular robotic system can have self-mobility and it can operate
alone. The power of modular robotics comes from its versatility in its configurations. Modules of
a modular robotic system can create very different configurations and the robots created this way
can have very distinct abilities.
9.Micro Robots

By definiton micro robots term is used to specify both robots that have dimensions on
micrometer scale and robots that can operate on micrometer resolution. Therefore both possibly
very big stationary robots that can manipulate their environment on a micrometer scale and small
robots that are actually measured by micrometers are called micro motors.

10.Nano Robots

Similar to micro robots nano robots also defined a bit vaguely. The term nano robot both defines
very small robots which have nano meter scaled dimensions and robots those can manipulate
their environment with a nano meter scale resolution regardless of their actual sizes.

11.Soft Elastic Robots

Soft/elastic robots, are new introductions to robotics. These robots are generally bio-inspired.
Most applications are inspired from squids or inchworms both structurally and functionally.

(ii) Classify the robot based on generation. (6)

First Generation:

Second generation:

Third Generation:
22. (i) Describe the Basic components of Robots with neat sketch. (7)
(ii) Define links and joints. Explain the types of joints (6)
23. Explain robot specification in detail. (13)
24. (i) Briefly explain the following terms:
a) Payload b) Spatial Resolution c). Precision d) Accuracy (7)
(ii) Explain the types of robots based on control signal (6)
25. Sketch and explain the configuration of Robot (13)
26. What are the types of power transmission systems (13)
27. Describe the types of grippers with neat sketch (13)
28. With neat sketch explain the types of gripper mechanism (13)
29. Discuss about Magnetic and Vacuum Grippers with neat sketch. (13)
30. list out the parameters for Selection of gripper (13)
31. Discuss about vacuum grippers
32. (ii) The diagram shows the linkage mechanism of and dimensions of gripper used to
handle a workpart for a machining. It has determined that the gripper force is to be 21 lb.
What is required to compute the actuating force to deliver this force of 30 lb. (6)