INTRODUCTION TO ROBOTICS

One mark questions.

1.The czech word “Robota” meaning .

a.forced labour
b.slaves
c.mechanical manipulator
d.humanoid

Answer.a
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 2.The term robotics was coined by .

a. Karel Capek
b. Issac Asimov
c. Rossum
d. Miller

Answer.b

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3.The robot can reliev humAnswer of the need to

perform what have been called “4D jobs”
, , , .

a. dirty,dangerous,different,difficult
b. dull,duty,deep,different
c. dull, dirty, dangerous, difficult
d. dull,difficult,different,deep

Answer. C
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4.The basic configurations of robots are .

a. rectangular
b. sphereical
c. rectangular,sphereical , cartesian, cylindrical
configurations
d. cartesian, cylindrical configurations, polar
configurations, articulated configurations

Answer.d
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5.The end point of the arm is capable of operating in

a cuboid space is
called .
 a. workspace
b. Machine cell
c. configuration
d. none

Answer.a

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6.The workspace of cartesian configuration is

.

a. cylindrical
b. gantry
c. polar
d. articulated

Answer.b

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7.The term robot was derived from_____languages.
a. English
b. czech
c. greek
d. latin

Answer. b

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8. The word robot was introduced in Czech play

wright______ in his play

R.U.R.

a.Karel capek
b. Rossum
c.issac asimor
d.miller

Answer. a

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9. The term “robotics” was comed by_____in his

science fictim story
“Run around”

a.karel capek
b.rossem
c.issac asimor
d.miller

Answer .c

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10. The robot were introduced to industry by_______

a.karel capek
b.rossem
c.issac asimor
d.miller

Answer. d

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11. The law of robotics established by_____

a.karel capek
b.rossem
c.issak asimor
d.miller

Answer.c

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12. The first robotics had been introduced by in

the____ industry

a.automotive
b.process
c.mining
d.space

Answer.a

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13.The two perpendicular revolute joint used in
configuration.

a. polar
b. cylindrical
c. articulated
d. gantry

Answer.b

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14.The arrangement of joints is known as RRP

configuration is .

a. gantry
b. polar
 c. articulated
d. cylindrical

Answer.b

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15.The selective complaints on assembly robots arm

are called as .

a. scara
b. puma
c. stand ford
d. none

Answer.a

16.The wrist motion in a plane perpendicular to the

end of the arm is
called .
 a. roll
b. pitch
c. yaw
d. none

Answer.a

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17.The wrist motion in a vertical plane passing

through the arm is
called .

a. pitch
b. yaw
c. roll
d. none

Answer.a
 ~end~

18.The wrist motion in a horizontal plane passing

through the arm is
called .

a. pitch
b. roll
c. yaw
d. none

Answer.c

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19.The first generation robot capable .

a. programmable
b. environment understand capability
 c. intelligency
d. none

Answer. a

20.The robot embedded with the artificial intelligence

classified into .

a. first generation
b. Second generation
c. Third generation
d. Fifth generation

Answer.c

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21.An artificial biological robot might provide the

impetus for .
 a. third generation
b. fourth generation
c. fifth generation
d. 6th& higher generation

Answer.

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22.The excellent mechanical flexibility can obtain

from manipulator structure.

a. articulated robot
b. cylindrical robot
c. scara robot
d. pick&place robot

Answer.

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23. Spine robot used for application.

a. painting
b. assembly
c. deburring
d. welding

Answer.a

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24.Robot teaching methods are .

a. lead through teaching

b. teaching through teach pendant
c. programming language
d. all the above

Answer.d
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25.Highly load carrying capacity can be obtained
from .

a. special robot
b. architectural robot
c. cylindrical robot
d. scara robot

Answer.c

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26.Highly rigid along vertical direction capability can

be obtained from .

a. special robot
b. architectural ronot
c. cylindrical robot
d. scara robot
 Answer.d

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27.Scara robot used for application.

a. painting
b. assembly
c. deburing
d. welding

Answer.b

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28.In a 3D space a co-ordinate frame is set of 3

orthogonal right handed axis X,Y,Z is Called
.

a. principal axis
 b. common axis
c. normal axis
d. none

Answer.a

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29.The position of links in a space and their motion

are described
by geometry .

a. spatial
b. manipulator
c. space
d. none

Answer.b
30.Angular grippers has angular stroke
degrees of open and gripping size.

a. 270’
b. 180’
c. 90’
d. 60’

Answer.b

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31.In grippers equipped with to control gripping

force is used is sensor.

a. tactile
b. load cell
c. LVDT
d. RFID

Answer.a
2. COORDINATE FRAMES, MAPPING &
TRANSFROMS
1.The changing description of point in a space from
one frame to another is refer to .

a. eular angles
b. rotation of vectors
c. mapping
d. none

Answer.a

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2.The representation of rotation in a 3D space has

matrix.

a. 3*1
b. 3*3
c. 1*3
d. 1
 Answer.b

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3. The representation of translation in a 3D space has

matrix.

a. 3*1
b. 3*3
c. 1*3
d. none

Answer.a
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4.The 4*4 transformation matrix in robot is called

.

a. homogenous transformation matrix

b. homogeneous co-ordinates matrix
 c. scale factor matrix
d. perspective transformation matrix

Answer.a

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5.Scale factor in robot .

a. two
b. three
c. one
d. +/-

Answer.

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6. R
 a. transformation matrix
b. homogenous transformation matrix
c. perspective transformation matrix
d. none

Answer.cperspective transformation matrix

~end~

7.The scale factor has non-zero positive values and is

called .

a. global sacling parameter

b. enlarging factor
c. reducing factor
d. none

Answer.a

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8.The robotics scale factor value ‘σ’ is .

a. σ<1
b. σ>1
c. σ=1
d. σ>-1

Answer.C

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9.The rotation matrix has elements.

a. 3
b. 9
c. 8
d. 1

Answer.b
 ~end~

10.If in the rotation matrix has only 3 of the g

elements are independent the rotation matrix has
.

a. redudancy
b. singularity
c. dexirity
d. none

Answer.a

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11.The PUMA has revolute joint.

a.2
b.4
 c. 6
d. 8

Answer.c
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12.How many numbers of euler angles sets can be

obtained?

a.12
b.36
c.24
d.3

Answer.c

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DIRECT MANIPULATOR KINEMATICS

1.The spherical joint variables for 3 degrees of
freedom.
 a. Ѳ1
b. Ѳ2
c. Ѳ3
d. Ѳ1 Ѳ2 Ѳ3

Answer.d

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2.For pure translation linear link velocity can be

taking the time derivative of the homogeneous
transfer formation matrix became rotation matrix
is .

a. varies
b. constant
c. zero
d. one

Answer.b
 ~end~

3.If robot link is prismatic R is the __________

i-1

a. it is different from R
i-1
0
b. it is same as R
i-1

c. both a&b

4.From robot forward kinematics you can find

.

a. target co-ordinates
b. length of each link
c. angles of each point
 d. all the above

Answer.a

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5.The position of any point it is in workspace can

obtained through .

a. forward kinematics
b. backward kinematics
c. inverse kinematics
d. none

Answer.a

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6.In inverse kinematics we can find .

 a. angles of each point
b. the length of each point
c. the angle each point
d. the position each point

Answer.a

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7.Rotation around the z-axis is .

a.

b.

c.

d. none
 Answer.c

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8.The suction cups are used in grippers.

a. mechanical
b. vaccum
c. adjustive
d. magnetized

Answer.a

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9.The situation of a position and an orientation are an

entity called as .

a. frame
b. link
 c. joint
d. none

Answer.a

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10.Consider the rotation about Z-axis by 90' the

matrix is .

a.

b.

c.
 d .

Answer .

~end~

11.The representation of 3 set of rotations frames are

called .

a. eular angles
b. transformation angle
c. translation angles
d. orientation angles

Answer.a

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12. The sliding joints are called .

 a. prismatic joint
b. revolute joint
c. lower pair joint
d. higher pair joint

Answer.a

13.The distance measured along a line i.e. mutually

perpendicular to both the axis in D-H notation is
called .

a. link length
b. link twist
c. link parameter
d. joint variable

Answer.

~end~
14.“R.R” 2 link planar manipulation workspace =
__________
L2
L1

a.IR^2
b.circle (L1-L2. n circle (m1+m2.
c.o ecept if L1=L2
d.none

Answer.a

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15. Reachable workspace = __________

L1 L2
 a.IR^2
b.circle (L1-L2. n circle (m1+m2.
c.all the a,b,c
d.none

Answer.b

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16.Dexterous workspace __________

L2
L1

a.IR^2
b.circle (L1-L2. n circle (m1+m2.
c.all the a,b,c
d.none

Answer.c

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17. In which mathematical approach solving for

inverse kinematics for closed form__________

a.algebric
b.geometric
c.all three a,b,c
d.nuemerical

Answer.c
 ~end~

18.When 2 link manipulator is fully stretched out (or.

folded back (or. Itself __________

a.workspace – boundary singularity

b.workspace – interior
c.singular coagoguratian
d.none

Answer.a

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19. The workspace interior singularities occur away

from space boundary __________

a. 2 revolute joints with collinear axis

b. 3 revolute joints with co-planar axis
c. 4 revolute joints with intersection at one point
d. All above
 Answer.d

~end~

20.The ability of the robot to move freely in all

direction of the workspace __________

a. robot manipulability
b. quantitative measure of manipulator
c. end point sensitivity
d. robot control

Answer.a

~end~
 4. INVERSE MANIPULATOR KINEMATICS

1. The definition for is the determination

of all possible and feasible sets of joint variables,
which would achieve the specified position and
orientation of the manipulator’s end effector with
respect to the base frame.

a. inverse kinematics
b. forward kinematics
c. indirect kinematics
d. none

Answer.a

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2.The six components can be represented by six
dimensional space
called .
 a. Cartesian space
b. joint space
c. cylindrical space
d. spherical space

Answer.

~end~

3. The region that can be reached by the origin of the

end effector frame with at lest one orientation is
called .

a. Reachable workspace
b. manipulators workspace
c. dexterous workspace
d. none

Answer.a

~end~
4. The space where is end effector can reach every
point from all orientation is called .

a. Reachable workspace
b. manipulators workspace
c. dexterous workspace
d. none

Answer.c

~end~

5. How many solution it can be obtained by two link

robot

a. no solution
b. single solution
c. two solution
d. <2 solution
 Answer.

6. The two approaches to the solution to the inverse

problem .

a. closed form
b. numerical solution
c. Both a & b
d. none

Answer .

7. Closed form solution method based on .

a. analytical algebraic approach

b. differential approach
c. vector approach
d. none
 8.A sufficient condition for six degrees of freedom
manipulator to posses a close form solution is that
either its consective joint axis .

a. parallel
b. intersect
c. Both a & b
d. none

Answer.

~end~

9. The robot have existence of solution in dexterous

workspace it has __________

a.position & orientation

b. position solution
c. closed form solution
d.numerical solution

Answer.a

~end~
10.The number of solution for the inverse kinematics
problem of the given 6 degrees of freedom
manipulation arm is __________

a.6
b.3
c.4
d.none

Answer.c

~end~

11. The direct Q inverse kinematic models were

establish the relationship between the
manipulator’s __________

a.Joint displacements Q position & orientation of end

effecter
b.Link displacement
c.Position & orientation of end effector
d.All

Answer.a

~end~

12.The ability of the robot to move freely in all

direction of the workspace __________

a. robot manipulability
b. quantitative measure of manipulator
c. end point sensitivity
d. robot control

Answer.a
 5. MANIPULATOR DYNAMICS

1.The study both velocity and static force leads to

matrix entity called .

a. jacopian manipulator
b. Cartesian manipulator
c. dexterous manipulator
d. cylindrical manipulator

Answer.a

2.A manipulators with more DOF with necessary are

called . manipulators.

a. Cartesian manipulator
b. cylindrical manipulator
c. kinematically manipulator
d. dexterous manipulator

Answer.c
3. The jacobian matrix defines the link between the
end effectors velocities & joint velocities by
__________ matrix

a.6*6
b.6*N
c.4*4
d.6*4

Answer.b

~end~

4. The tool tip trajectory can obtain the velocities one

time __________ matrix

a. Jacobean matrix
b. Orientation matrix
c. Position matrix
d. None

Answer.a

~end~
5.The example of redundant manipulator is
.

a. cartesian
b. SCARA
c. cylindrical
d. spherical

Answer.

~end~
6.PUMA 560 has __________ singularity

a. two
b. three
c. six
d. none

Answer.a

~end~
7. In which manipulator have added flexibility for
useful to avoiding obstacles

a. redundant
b. cartesian
c. cylindrical
d. spherical

Answer.

~end~

8.
 Ө=?

a. Ө = tan2 (x/y)
b. Ө = cos2 (x/y)
c. Ө = cos2 (y/x)
d. Ө = £m (x/y)

Answer.a

~end~

9.

S= ?
 a.
b.
c.
d.

Answer.

~end~
10.The time variation of position and orientation of
link in space
produces .

a. Linear & angular velocity

b. Linear velocity
c. angular velocity
d. Linear & angular acceleration

Answer.a

~end~
 11.The axis of rotation itself may be changing with
time is called .

a. Linear & angular velocity

b. Linear velocity
c. angular velocity
d. Linear & angular acceleration

Answer.c
12.The velocity vectors are free vectors. Why?

a. They do not depend on their linear action

b.They depend on their linear action
c. Both a & b
d. none

Answer.
13. The transformation from joint velocities to the
end effectors velocity is described by matrix, called
__________

a.The Jacobean matrix

b.Orientation matrix
c.Position matrix
d.None

Answer.a

~end~

14. The mapping between force applier to end

effectors & resulting calculate by __________

a.The Jacobean matrix

b.Orientation matrix
c.Position matrix
d.None

Answer.a

~end~

15. In pure transformation , linear link velocity can

be obtained by taking the fine derivative of the
 homogeneous transformation matrix because
__________ is constant

a. The Jacobean matrix

b. Orientation matrix
c. Position matrix
d. None

Answer.b

~end~

16. The angular velocity 0w1 define as __________

a. dQ/dt\
b. dv/dt
c. rw
d. d(0d1./dt

Answer.a

~end~

17. The linear velocity 0vi is given by __________

a. dQ/dt
b. dv/dt
c. rw
d. d(0d1./dt

Answer.b

~end~

18. In which vectors needs to be preserved in the

magnitude of direction __________

a. Free vector
b. Linear angular velocity
c. Angular velocity
d. Linear vector

Answer.a

~end~

Operation
point
19. The forward different model

End effector End effector

? jackoform velocity
 Joint link
parameter

a. joint velocity
b. free vectors
c. angular velocity vectors
d. linear vectors

Answer.a

6. TRAJECTORY PLANNING
1. The Cartesian position and orientation of tool
within manipulator work piece if the following
condition satisfies.

a. sin & cos function taking values range of(-1,1)

b. sin & cos function taking values range of(0,-1)
c. sin & cos function taking values range of(1,-1)
d. Both a & b

Answer.

2. The purpose of control provide inputs for the robot

joint actuators. In order to accomplish a task with
__________

a. robot control system

b. end effectors
c. motor control
d. mechanical system

Answer.b

~end~
3. Robot tasks in basic types __________

a. un constrained free motion of tool

b. constrained motion application of forces to the
environment
c. combination of a & b
d. all above

Answer.d

~end~

4. The robot finding the path. This process is called

__________

a. trajectory planning
b. trajectory generation
c. trajectory description
d. none

Answer.a

~end~
5. The robot act of computing a trajectory as a time
sequence or value in a real time is called
__________

a. trajectory planning
b. trajectory generation
c. trajectory description
d. none

Answer.b

~end~

6.A pure geometric statical description or the motion

is called__________

a. path
b. trajectory
c. via points
d. spline

Answer.b

~end~
7. A path with specified quality of motion that in a
path on which a time law is Specified in terms of
velocities and acceleration at each point is called
__________

a.path
b.trajectory
c.via points
d.spline

Answer.c

~end~

8. The set of intermediate location between the set of

the start goal points. On a trajectory is called as
__________

a.path
b.trajectory
c.via points
d.spline

Answer.d

~end~
9. The smooth functions that passes through the set of
via points. It is called __________

a.path
b.trajectory
c.via points
d.spline

Answer.d

~end~

10. The PUMA robot path update rate is __________

a.560 hz
b.56 hz
c.5600 hz
d.none

Answer.a

~end~

11. The trajectory description in Cartesian space are

__________

a. x(dt. , x’ d(t. , x”d(t.

 b.Q d(t. , Q’ d(t. , Q” d(t.
c.v1, v2, v3
d.none

Answer.a

~end~

12. The trajectory description in joint space are

__________

a.x(dt. , x’ d(t. , x”d(t.

b.Q d(t. , Q’ d(t. , Q” d(t.
c.v1, v2, v3
d.none

Answer.b

~end~

13. The collision free path obtain from

__________trajectory planning

a.Cartesian space
b.Joint space
c.Trajectory space
d.None
 Answer.a

~end~

14. In which method trajectory planning has

computating at complexity __________

a.aCartesian space
b.Joint space
c.Trajectory space
d.None

Answer.a

~end~

15. What are criteria for controller selection

__________

a.stability
b.performance
 c.both
d.none

Answer.

~end~

16. The trajectory points are computed at a path

updated rate. This rate lies between __________

a.60hz – 2000hz
b.60hz – 1000hz
c.326hz
d.60hz

Answer.a

~end~

7.0 ROBOTIC VISION SYSTEM

1. Robotic vision may be defined as the process of a

extracting and interpreting information from
______
 a. images
b.camera
c. 3 dimensional world
d.None

Answer. a

~end~

2. In a vision system the image device is ______

a. camera
b.ctd
c. ccd
d.All a b & c

Answer. d

~end~

3. The output of image device is a continuous analog

signal that is proportional to______

a. The amount of light reflected from an image

b.The amount of light reflected from an object
c. The amount of RGB value
d.The amount of pixel
Answer. a

~end~

4. In which illumination technique used for surface

defect recognition the light source is ______

a. Specular illumination (light field)

b.Specular illumination (dark field)
c. Front imager
d.Front illuminator

Answer. B

~end~
5. The features of object do not lie in the same plane.
For identifying the errors technique
used ______

a. Rear illumination condenser

b.Front illumination
c. Rear illumination (collimeter)
d.Rear offset illumination

Answer. C

~end~
 6. Two dimensional image which is quite adequate
for application involving objects “lying in one
plane” the application are _____

a. Measuring & gauging

b.Verifying presence of components
c. Checking features on a flat surface
d.All of them a b & c

Answer. a

~end~

7. The analysis of scene, where contours (or) shapes

are invalued the system requiring a ______

a. 3-diamention system
b.2-diamention system
c. Grey
d.None

Answer. A

~end~

8. A sample of image intensity quantized to a integer

value. It is called as
 _______

a. Pixel
b.Syntax
c. Algorithm
d.Grey scale image

Answer. a

~end~

9. In vision system for the diagnosis of disease _____

images used.

a. Tomography
b.Syntax
c. Algorithm
d.Grey scale image

Answer. a

~end~

10. Vision sensor is_____

a. taclite
b.Sonar
c. Ccd camera
 d.Conductive rubber

Answer. c

~end~

11. In tele operation the human to guide a robotic

device using a ____ interface.

a. high band width

b.computer
c. control panels
d. inter lock

Answer. a

~end~

12. The use of sensors to indicate conditions or events

that are unsafe It
involves_______________.

a. personal trainny
b. safety monitory
c. barrier guides
d. interlocks
Answer. b

~end~

13. The important social objects robots is to serves for

humAnswer by ______________.

a. increase productivity
b. unsafe working condition
c. manufacturing by less cost
d. to prevent the economics loss

Answer. b

~end~

14. A device that senses that an object is only a shot

distance away and measures how far away it is from
the robot its______________.

a. vision camera
b.b. proximity detector
c. strain gauge
d.limit switch
Answer. b
~end~

15. Combining or arranging of safety guards in an

order to provide backup safety
Features of the robot the level is
called_________________.

a. safety guards redundancy

b.software limits
c. work envelope
d.vision safety system

Answer. a
~end~

16. In material handling application requires the robot

to unstuck parts by removing from the top one. This
operation is named________________.

a. palletizing
 b. depalleizing
c.stacking
d.processing

Answer. b
~end~

17. In material handling application requires the

robot to palletizing & depolarizing Parts by
removing from the top one. This operation is
named________________.

a. palletizing
b. depalleizing
c. stacking
d. processing

Answer. a

~end~

18. The cycle time of the machine may be relatively

_________________ compared to the robot cycle time.
 a. long
b.short
c. equal
d.both a&c

Answer. a

~end~

19. A device that divides the rotation angle of a shaft

into functions of a degree and then reads out the
present angle in some binary code the device called.

a. ABS optical encoder

b.Limit switch
c. Proximity
d.Resolver

Answer. a

~end~

20. The capability of an computer to perform that

simulate human intelligence it is called
____________________
 a. AI
b.fuzylogic
c. automation
d.machine cell

Answer . a

~end~

21. A device used to detect signal based on the gap

between this sensor & non conductive maths the
device is ______________ .

a. ABS optical encoder

b.Capacitive proximity sensor
c. Limit switch
d.Revolver

Answer. B

~end~

22. The robot controlling the path of a robot

manipulator between successive 3-diemension position
it is called

a. controlled
 b.continues path
c. contoury
d.convolution

Answer. c

~end~

8.0 ROBOT SOFTWARE & PROGRAMMING

1. Overall control and co-ordinate of the robot
system is called
_______

a. Supervisory control
b.Task generator
c. Arm motion control
d.Task interpreter

Answer. a

~end~

2. The step by step execution of the robot task

controlled by______

a. Task generation
b.Task interpreter
c. Arm motion control
d.Supervisory control

Answer. b

~end~

3. The commands of these axial motions are given by

the operator when the desired position is reached,
the stores the co-ordinates of the computer
 memory. This process of programming called
as_______

a. manual teaching
b.lead teaching
c. walk through teaching
d.offline programming
Answer. a

~end~

4. In a typical teach pendant have control commands

“trAnswer”mode used for
________

a. to manipulate the robot

b.to run a program
c. activated the joint control
d.to initialize the robot to known position

Answer. a

~end~

5. In a typical teach pendant have control commands

“move”mode used for
_______
a. to manipulate the robot
 b.to run a program
c. activated the joint control
d.to initialize the robot to known position
s
Answer. c

~end~

6. In a typical teach pendant have control commands

“home”mode used for
_______
a. to manipulate the robot
b.to run a program
c. activated the joint control
d.to initialize the robot to known position

Answer. d

~end~

7. In a typical teach pendant have control commands

“step”mode used for
_______

a. to manipulate the robot

b.to run a program
c. useful to move the robot though the program
one advance at a time
 d.to initialize the robot to known position

Answer. c

~end~

8. In a typical teach pendant have control commands

“zero” mode used for
_______

a. to manipulate the robot

b.to run a program
c. useful to move the robot though the program
one advance at a time
d.allow setting the position register to zero

Answer. d

~end~

9. The robot is major ingredient of ______

a. Cim –technology
b.Cam technology
c. Cadd
d.Mrd

Answer. a
~end~

10.For offline robot programming_________ software

used .

a.igrip
b.robcad
c.robot studio
d.all of above

Answer .d

~end~
11.The manipulator easy to create an environment for
programming by using _________

a. manual teaching
b.lead teaching
c. walk through teaching
d.offline programming

Answer. d

~end~
12.A central primitive is that for teaching a robot
a work point or ________ as 6degrees of freedom
by means of interaction with the graphics screen.

a.frame
b.mouse
c.workspace
d.toolpoint

Answer. a

~end~

13.An important use of 3D geometry of the object

models is in ________

a.for easy to locate desired target

b.automatic collision detection
c.practical display
d.for understanding work environment

Answer. b

~end~
9. ROBOTIC SYSTEM DESIGN ASPECTS

1.Torque developed due to armature current =

__________

a. Jm=Km Ia
b. Em=Ke Q : Q=shaft angle
c. Jl
d. Ea

Answer.a

~end~

2. armature “back emf” voltage created __________

a. Jm=Km Ia
b. Em=Ke Q : Q=shaft angle
c. Jl
d. Ea
Answer.b

~end~

3.Dc motor electrical equation = __________

a. Jm=Km Ia
b. Em=Ke Q : Q=shaft angle
c. Jl
d. Ea

Answer.d

~end~

4. mechanical system = __________

a. Jm=Km Ia
b. Em=Ke Q : Q=shaft angle
c. Jl
d. Ea

Answer.c

~end~
5.In which robot benefits are difficult to
quantify_______into cost or savings.

a.quality
b.productivity
c.flexibility
d.b & c

Answer.d

~end

6.The manipulator ________capacity depends upon

the sizing of its structural member,power transmission
system and actuators.

a.workvolume
b.load
c.speed
d.cycletime

Answer.b

~end~
10.0 ROBOTIC APPLICATION

1. “SMART” actuators __________

a.electrical
b.piezo-electric
c.SMA –shape memory allow
d.Both b& c

Answer.

~end~

2. The actuator operates based on electromagnetism

__________

a.DC motor
b.SMA shape memory allow
 c.Electro-pneumatic
d.Stepper motor

Answer.

~end~

3. A conductor wire placed inside a magnetic field

experience a Lorentz force Fm = electromotive
force . Fm = __________

a.2(velocity*magnetic field.
b.(current * magnetic field. length
c.dQB/dt magnetic flux through coil
d.none

Answer.b

~end~
 4. A conductor spinny inside magnetic field produce
a valley it is called___ .

a. electro magnetism
b.-electromotive force
c. back emf force
d.lorentz force

Answer.c

~end~

5.. In which actuators can obtain precise

control_________.

a. Pneumatic
b.Hydraulic
c. Electric
d.”smart ”actuator

Answer .c

~end~

6.. In which actuation capable are high power

precession_________.
 a. Pneumatic
b.Hydraulic
c. Electric
d.”smart ”actuator

Answer .b

~end~

7. Piezoelectric actuators =………………

a. Pb (zr,ti)o3
b.B.ni,ti
c. C.cuzual
d.D.both b&c

Answer. a

~end~

8. SMA shape memory allow =____________.

a. Pb (zr,ti)o3
b.B.ni,ti
c.C.cuzual
d.D.both b&c
Answer. d

~end~

9. In which actuator in force wise to human

muscle_________.

a. Pneumatic
b. Sma
c.pz7
d. Hydraulic

Answer.

~end~

10. Electro –thermal ,electro static sensors

is____________.

a. A.pz7
b.B.sma
c. C. Mems
d.D. Tactile

Answer .c
~end~

11. Sensitivity =____________.

a. ∆ out/∆in
b.∆out=f(∆in)
c. ∆min ≤ ∆out ≤ ∆max
d.∆out-actual measurement

Answer .a

~end~

12. Linearity=____________.

a. ∆ out/∆in
b.∆out=f(∆in)
c. ∆min ≤ ∆out ≤ ∆max
d. ∆out-actual measurement

Answer .b

~end~

13. Range =___________.

 a. ∆ out/∆in
b.∆out=f(∆in)
c. ∆min ≤ ∆out ≤ ∆max
d.∆out-actual measurement

Answer.d

~end~

14. Accuracy=__________.

a. ∆ out/∆in
b.∆out=f(∆in)
c. ∆min ≤ ∆out ≤ ∆max
d .∆out-actual measurement

Answer.d

~end~

15. In which sensor used ultra sonic

source__________.

a. Ir sensor
b.Tactile
c. Sonar sensor
d.Strain gauae
Answer. C

~end~

16 .In which sensor detect reflections ___________.

a. 4 Ir sensor
b.Tactile
c. Sonar sensor
d.Strain gauae

Answer .a

~end~

17. For distance measurement which sensor

used_________.

a. A.ir sensor
b.B.sonar sensor
c. C.laser range finder
d.D. All above three

Answer.d

~end~
18. Compass sensor based on _________.

a. Fluxgate (or )hall effect

b.B.doppler effect
c. C.reverseeffect
d.D.none

Answer .a

~end~

19. Motion sensor for measuring velocity by

____________.

a. Fluxgate (or )hall effect

b.doppler effect
c. reverseeffect
d.none

Answer .b

~end~

20. Inertial navigation sensor____________.

a. Compass
b.B.accelerometers
 c. Motion sensors
d. All above three

Answer .d

~end~
21. Array of photo diodes is called __________.

a. Pixels
b.Image prossessing
c. Soble operation
d.none

Answer. a

~end~
22. Color (or)grey level in each pixel range
___________.

a. A.0-256
b.B.0-32
c. C.0-255
d.D.0-7

Answer .b

~end~
23. The purpose of image processing
______________.

a. To identify failure in field

b.To identify colors
c. To identify faces
d.Toidentify objects

Answer. a

~end~

24. Stable operation used for _________________.

a. Edge detection
b.Face detection
c. line detection
d.Obstracles detection

Answer .c

~end~

25. The robot teach by showing use a

______________.

a. Teach pendant
 b.Splized language
c. Task level programming
d.Exipictrobot programming

Answer. a

~end~

26. Explict robot programming use specialized

languages are _____________.

a. Val,al examples
b.Ar _basic
c. rapid @abb
d.E.karel@7aunc

Answer .a

~end~

27.Robot library with new language used in ibm

____________.

a. Ar basic
b.Rapid
c. Aml
d. karel
Answer .C

~end~

28. The reliability of an automated complex system is

very important because its
________________ can result a major economic losses.

a. failure without prevention

b. failure
c. breaks down
d. UN safe act

Answer. a

~end~
29. The robot consumes________second for per spot
welding

a.2
b.1
c.1.5
d.2.5

Answer.c

~end~
30.The automotive compares hane invested robot for
spot welding because Of their_____

a.speed
b.accuracy
c. reliability
d. all of these

Answer.d

~end~

31.Spray painting robot is taught by the_______

a. reach through method

b. robot online
c. robot offline
d. none

Answer. a
~end~

32.The demerits of painting robot are______

a. constant control
b. rapid control
c. low repeatability
d. all the above

Answer.d

~end~

33.The robot performance criteria for position

accuracy parameters criteria For position accuracy
parameters are_______

a.nominal load,max load

b.cycle time,speed,trAnswerverse time
c.repeatability
d.path reviation,circle & corner accuracy
Answer.c

~end~
34.During assembly the ______ is provided in a robot
to correct for the lateral and angular errors .

a.compliance
b.controller
c.search algorithm
d.software

Answer.a

~end~

35. The compliances can be defined as allowed or

initiated movement of the peg for the purpose of
_______

a.axial alignment of hole

b.scraping painted from a glass pane
c.performing surgery
d.alignment with hole

Answer.d
~end~
36.Misalignment between the axis of peg and axis of
hole ,it may be need to align
the hole by_________ compliance.

a.lateral compliances
b.rotational compliances
c.axial compliances
d.active compliances

Answer.a

~end~

37.The axis of peg and hole are not parallel ,the

assembly of the two will take place by corrected by
__________ compliances.

a.lateral compliances
b.rotational compliances
c.axial compliances
d.active compliances

Answer.b

~end
38.The passive compliances to correct the
misalignment error during the assembly,is to use
passive mechanical device known as
___________device.

a.controller
b.sensors –force/torque
c.remote center compliances(RCC)device
d.software

Answer.c

~end

11.0 ROBOT MAINTENANCE & SAFETY

1.During spot welding,weld gun tips must be
periodically________ to produce high strength weld
a.dreesed
b.cleaned
c.apply grease
d.change the weld tip

Answer.a

~end~

2.An annual maintenance cost is about_________of

their acquisition cost for industrial robot.

a.11-12%
b.10-25%
c.10-12%
d.50%

Answer.c

~end~

3.The most widely used safety device in robot_______

a. light curtain
b.air curtain
c. fence
d.safety mat

Answer.c

~end~

4.The most widely used safety device for spot welding

station in_________

a.light curtain
b.air curtain
c.fence
d.safety mat

Answer.a

~end~

5.The risk zone could be identified in descending

order of risk________,________-&,_________

a.yellow,orange,&red
b.orange,yellow,&red
c.red,orange,&yellow
d.red,yellow,&orange
Answer.c

~end~

6.Extreme care to avoid contamination in the fluid

mecganism for________,________robot.

a.servo hydraulic robots

b.pnenumatic powered robots
c.drive controlled
d.none

Answer.a

~end~

7.Extreme care is avoid water seponation for ------------

robot

a.servo hydraulic robots

b.pnenumatic powered robots
c.drive controlled
d.none
Answer.b

~end~

8.OZ of the robots being the highed risk becomes

the_______zone.

a.red
b.yellow
c.blue
d.orange

Answer.a

~end~

9.the area converted by MRE becomes

the_______zone.

a.red
b.yellow
c.blue
d.orange

Answer.d
~end~

10.the perameter of the all other areas with in the

robot installation will than be designated_______color

a.red
b.yellow
c.blue
d.orange

Answer.b

~end~

11.photo electric guarduty done by________sensor.

a.fence
b.air curtain
c.light curtain
d.proximity

Answer.c

~end~