MAHATMA GANDHI INSTITUTE OF TECHNOLOGY, HYDERABAD

DEPARTMENT OF MECHANICAL ENGINEERING

Class: IV B.Tech (I Sem) (Objective type BITS) UNITS: I, II, III, IV & V
ROBOTICS
UNIT-I
1. Technology that is concerned with the use of mechanical, electronic and computer based
systems in the operation and control of production [ B ]
A) Mechanization B) Automation C) Industrialization. D) All the above.

2. A highly integrated transfer line comes under______type of automation. [ B ]

A) Programmable B) Flexible C) Fixed D) (a) & (b)

3. Type of control used in Bang - Bang robot. [ A ]

A) servo B) Non-servo C) None of the above D) All the above.

4. SCARA robot is used in.........applications. [ B ]

A) Quality control B) Assembly. C) Defense. D) All the above.

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

A) Telecherics. B) Exo-skeleton C) Locomotive device D) All the above.

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

A) 2 B) 3 C) 1 D) 0

7. Work volume of a Spherical robot [ C ]

A) Cylinder B) Parabolic C) Sphere D) Cube

8. Wrist motions of the robot among the following. [ D ]

A) Yaw B) Pitch C) Roll D) All the above.

9. The attractive feature of SCARA robot [ B ]

A) More tolerance B) Selective compliance C) Accuracy D) Repeatability

10. Type of control used in Cartesian robot. [ C ]

A) Servo B) Non-servo C) Pneumatic D) Hydraulic

11. ...……………….type of robot uses feedback from the control system [ B ]

A) Non-servo B) Servo C) (a) & (b). D) Pneumatic

12. Type of robot used in spray painting applications [ D ]

A) Point to point B) Bang-bang C) End point D) Continuous path

13. Preferred robot system for load carrying applications [ A ]

A) Hydraulic B) Pneumatic C) Electrical D) Mechanical
14. Interface between the last link of the manipulator and the End effector is called[ C ]
A) Critical joint B) Gripper C) Wrist D) Tool flange

15. Preferred robot system for high repeatability applications [ D ]

A) Cylindrical B) Cartesian C) Spherical D) Any of the above

16. Type of robot used in transferring the object [ A ]

A) Point to point B) Bang-bang C) End point D) Continuous path

17. Type of robotic like device used in undersea applications [ A ]

A) Telecherics. B) Exo-skeleton C) Locomotive device D) Prosthesis

18. The shape of work volume of a cylindrical robot is.... [ C ]

A) Parabolic B) Sphere C) Cylinder D) Cube

19. Number of polar co-ordinates in a jointed arm configuration [ B ]

A) 2 B) 3 C) 1 D) 0

20. Type of robot used in grinding applications. [ D ]

A) Point to point B) Bang-bang C) End point D) Continuous path

21. The technical name of a hand attached to the wrist of the robot [ D ]
A) Gripper B) End Effector C) Joint D) Any of the above

22. The arm and the body joints of the manipulator are used to.......the end effector[ B ]
A) Orient B) Position C) Shake D) Any of the above.

23. The robot configuration, which is used in high reach applications [ D ]

A) Polar B) Jointed arm C) Spherical D) (a) & (b).

24. High repeatability applications of Cartesian configurations is due to.. [ D ]

A) Linear joints B) High stiffness of links C) Its rigid structure D) All the above.

25. "Piston movement inside the engine cylinder" is.........type of joint. [ A ]

A) Prismatic B) Rotational C) Twisting D) Revolving

26. Interface between the last link of the manipulator and the End Effector is called [ C ]
A) Critical joint B) Gripper
C) Wrist D) Tool flange / too mounting plate.

27. The intelligence which is required to control the manipulator will be provided by [ A ]
A) Sensor B) Controller C) Sequencer D) Synchronizer.

28. The device which is used to interpret the data stored in a memory of a robot. [ B ]
A) Sensor B) Controller C) Sequencer D) Synchronizer.
29. The device which is used to hold or grasp the object [ C ]
A) End Effector B) Gripper C) (a) or (b). D) None of the above.
30. "Only one surface required to grasp or hold the object" by [ D ]
A) Vacuum gripper B) Magnetic gripper C) Adhesive gripper D) any of the above.

31. Magnetic gripper is used only for.........materials. [ C ]

A) Stainless steel B) Non-ferrous C) Ferrous D) Plastic

32. Ability of the wrist socket to yield elastically, when subjected to a force is called [ D ]
A) Elasticity B) Stiffness C) Strength D) Compliance.

33. Remote Centered Compliance (RCC) devices are used in...........applications. [ A ]

A) Assembly B) Defense C) Undersea D) Mining

34.Number degrees of freedom exhibited by robot wrist [ C ]

A). 1 B). 2 C). 3 D). 4

35.Type of robot used in spot-welding applications. [ A ]

A) Point to point B) Sequential C) End point D) Continuous path

36.Type of drive used for larger robots [ D ]

A) Electrical B) Mechanical C) Pneumatic D) Hydraulic

37.Type of power used in robot for precision work applications [ A ]

A) Electrical B) Mechanical C) Pneumatic D) Hydraulic

38.Smallest increment of the movement into which the robot can divide its work volume [ B ]
A) Control resolution B) Spatial resolution C) Repeatability D) Accuracy

39.Mechanical inaccuracy among the following [ D ]

A) Gear backlash B) Leakage of hydraulic fluid
C) Stretching of pulley cards D) All the above.

40. Relation between spatial resolution, control resolution and mechanical inaccuracies is [ D ]
A) Spatial resolution = control resolution + mechanical inaccuracies
B) Spatial resolution = control resolution - mechanical inaccuracies
C) Spatial resolution = control resolution x mechanical inaccuracies
D) Spatial resolution = control resolution -r mechanical inaccuracies

41. The work volume of a spherical robot is __Spheriod_.

42. The term robot has the origin from Czech word _____ROBOTA.

43. Three laws of robotics are given by ___ISAC ASIMOV

44. The non-servo system is also called as _Open___ loop control system.
45. A __ROBOT is a reprogrammable, multifunctional manipulator designed to move material,
parts, tools or specialized devices through variable programmed motions for the performance of
a variety of tasks.

46. Robotic First Law states that _ A robot may not injure a human being or, through
inaction, allow a human being to come to harm.
UNIT-II

1. The following is the property of a rotational matrix R [ D ]

A) R-1 = R B) R-1 = RTR C) R-1 = RRT D) R-1 = RT

2. Differential translation can be represented by [ B ]

A) Trans( x,y,z) B) Trans( dx,dy,dz) C) Trans( z, y, x) D) Trans( dz, dy, dx)

3. Using ___________kinematic equations, one can calculate where the robot is at any instant
if all the robot joint variables are known [ B ]
A) Inverse B) Forward C) Both A & B D) none

4. Homogeneous transformation is based on mapping 3- Dimensional space into__________

dimensional space. [ D ]
(A) 1 (B) 2 (C) 3 (D) 4

5. A transformation matrix must be in _________________ form. [ C ]

(A) Triangle (B) Upper triangular (C) Square (D) not square

6. The following coordinate systems are used to find Forward Kinematics and Inverse
kinematics equation for position analysis. [ A ]
(A) Cartesian (B) Cylindrical (C) Spherical (D) all the above

7. In _Forward_ Kinematics we used to determine where the robot’s hand is?

(If all joint variables are known).

8. Representation of a Frame at the Origin of a Fixed-Reference Frame is ___________.

9. An object can be represented in space by attaching a frame to it and representing the frame in
space in matrix form as ______________.

10. Expand DH Representation Denavit–Hartenberg Representation .

11. The joint link parameters are given by ___________________.

12. The position vector of point P = 5i+3j+8k. The position vector P is rotated about the x-axis
by 900 .The new position of point P is _______________________ .

13. The homogeneous co-ordinates of a point V = 6i+10j+8k are _________________

14. Rotation of θ degrees about the X- axis is given by Rot (X, θ) = _______________

UNIT-III

1. Newton-Euler’s formulation is used to analyze the behavior of the manipulator [ D ]

A) Kinematic B) Static C) Kinetic D) Dynamic

2. The Jacobian of the manipulator is used to study [ D ]

A) Kinematics of manipulator B) Dynamic forces of the manipulator
C) Acceleration of the end effectors D) Velocity and Static forces

3. If we wish to be able to specify the position, velocity and acceleration at the beginning and
end of segment, then _____________ polynomial is required [ D ]
A) Cubic B) Second Order C) First Order D) Qunitic

4. Lagrangian formulation describes the behavior of a dynamic system in terms of [ D ]

A) Force and Momentum B) Momentum and Energy
C) Force and Work D) Work and Energy

5. Lagrangian Function L=f (Kinetic Energy, Potential Energy) = __K.E-P.E__.

6. N-Joint manipulators will have ____N___ number of trajectories.

7. In Newton Euler formulation, the equations of motions are derived from Newton’s Second
Law.

8. If a0=15, a1=0, a2=20, a3= -4.44, then the velocity of the joint as a function of time Ɵ (t) =
_40.0 t-13.33 t2___.

9. Differential change in the manipulator can be computed by _Jacobian_ matrix.

10. Discrete motion of the manipulator possible by __Hydraulic Actuator_.

UNIT-IV
1. What is the resolution in degrees of encoders with 10 tracks [ C ]
A) 0.415 B) 0.6515 C) 0.3515 D) 0.5515

2. Stepper motor works based on the principle of [ D ]

A) Maximum resistance B) Maximum reluctance
C) Minimum resistance D) Minimum reluctance

3. Resolution for an n rotor teeth stepper motor is [ C ]

A) (n+1) / 3600 B) (n+2) / 3600
0
C) (n-1) / 360 D) n / 3600

4. Discrete motion of the manipulator possible by _________________________ [ B ]

A) Pneumatic B) Hydraulic C) Stepper motor D) Mechanical

5. The robotic instrument is prevented from running into other objects by_________ [ B ]
A) Sensory devices B) Pixel C) bubble memory D) Negative image

6. Stepper Motors are typically used in ____OPEN____loop system for robot applications.

7. The extent to which a machine vision system can difference between two objects is called
_Resolution______.

8. For motion programming there is a combination of textual statements and lead through
techniques. Textual statements describe the ____Motion.

9. Characteristic of Pneumatic actuator Fast Movement.

10. When compared with DC motors, the manufacturing cost for AC servomotor is Low__.

UNIT-V
1. ______________________ is a continuous welding process [ C]
A) Spray Coating B) Wire brushing C) Arc Welding D) Spot Welding

2. Retrieving the parts which are randomly oriented on a conveyor is the operation using [ A ]
A) Vision Sensors B) Range Sensors C) Voice Sensors
D) Tactile & Proximity sensors

3. In which case, the robot is required to use some form of sensory input to guide to pick the
Part. [ B ]
A) Parts located at a known position
B) B) Parts located in a specified area
C) Parts located at an unknown position and orientation
D) Parts located at a known position and orientation

4.________________ motion control system is required for Arc welding [ B ]

A) Point to Point B) Continuous path C) Both B & C D) Spot Welding

5. _____________operation, metal is pressed (or) hammered into a desired shape [ B ]

A) Casting B) Stamping Press C) Forging D) Plastic Moulding

6. _Stamping Press operation is used to cut and form sheet metal parts.

7. Voltage used in Arc welding is typically in the range of __10 to 30 V__.

8. The welding gun used in spot welding consist of a larger electrical cables are used for _deliver
the current to the electrode from the control panel_.

9. _Arc Welding__operation cannot be done by powered lead through method.

10. Hydraulic systems typically operate at about 1000 to 3000 lb/in2.