First Test: Spring 2022

Sub: Robots and Computer-Controlled Machines (MF30003)

Instructions: Answer all the questions. Each question carries one and half marks. There is no
negative marking.

Full Marks: 15; Duration: 40 Minutes; Date: 22.02.2022

NAME: Roll No.

Q.1. Let us suppose that a 4 dof (that is, three linear and one rotary motions) serial manipulator has
been designed and developed for white-board cleaning in a class. It should be called

(a) an ideal planar manipulator

(b) an ideal spatial manipulator
(c) a redundant planar manipulator
(d) an under-actuated spatial manipulator

Correct Answer:

Q.2. Forward kinematics in robotics aims to determine

(a) Link parameters corresponding to the known information of position and orientation of end-
effector of a manipulator with respect to its base coordinate system.

(b) Joint parameters corresponding to the known information of position and orientation of end-
effector of a manipulator with respect to its base coordinate system.

(c) position and orientation of the end-effector of a manipulator with respect to its base coordinate
system.

(d) none of the above.

Correct Answer:

Q.3. The concept of Euler angles has been used to represent the rotation of a frame {B} with respect
to the reference frame {U}, that is, . Let us suppose that the above rotation can also be expressed
by a 3x3 rotation matrix, as given blow.

[ ]
The Euler angles are found to be as follows:

(a) α = 45⁰; β = 60⁰; γ = 30⁰

(b) α = 30⁰; β = 45⁰; γ = 30⁰
(c) α = 45⁰; β = 30⁰; γ = 0⁰
(d) α = 60⁰; β = 0⁰; γ = 0⁰

Correct Answer:

Q.4. According to Denavit-Hartenberg’s notations, Angle of twist of a robotic link can have

(a) positive value only

(b) negative value only

(c) zero value only

(d) either positive or negative or zero value

Correct Answer:

Q.5. According to Denavit-Hartenberg notations, length of link is defined as the

(a) mutual perpendicular distance between two X axes measured along Z axis.

(b) mutual perpendicular distance between two Y axes measured along Z axis.

(c) mutual perpendicular distance between two Z axes measured along X axis.

(d) mutual perpendicular distance between two Y axes measured along X axis.

Correct Answer:

Q. 6. A frame {B} is rotated about ̂ axis of the universal coordinate system by 30⁰ degrees
and translated along ̂ ̂ and ̂ by 1, 2 and 3 unit(s), respectively. Let the position of a
point Q in {B} is given by [3 2 1]T. U Q is found to be equal to
(a) [4.866 3.232 4]T
(b) [3.232 4 4.866]T
(c) [4.866 4 3.232]T
(d) [4 3.232 4.866]T
Correct Answer:

Q.7. Robot simulator is a

(a) simulation software used for manual teaching.

(b) robot kinematically equivalent to the main robot to be taught using manual teaching.

(c) simulation software used for lead-through teaching.

(d) robot kinematically equivalent to the main robot to be taught using lead-through

teaching.

Correct Answer:

Q. 8. Arc welding is an example of

(a) Point-to-point task
(b) Continuous path task

(c) neither point-to-point task nor continuous path task

(d) combined point-to-point and continuous path task

Correct Answer:

Q. 9. Remote Center Compliance is an example of

(a) Magnetic gripper
(b) Vacuum gripper

(c) Passive gripper

(d) Active gripper

Correct Answer:
Q.10. How many Motor(s) is/are required to run a four–bar mechanism?

(a) 1

(b) 2

(c) 3

(d) 4

Correct Answer:

ANSWER KEYS

Q. 1. Q.2. Q.3. Q.4. Q.5.

Q.6. Q.7. Q.8. Q.9. Q.10

Name: Roll No.