Scribd
Upload
66 views3 pages

Robotics Solutions Spring 2021

This document contains solutions to questions about robots from a Spring 2021 robotics sheet. It includes multiple choice questions about topics like robot density in manufacturing and definitions of industrial robots. It also classifies different types of robots like mobile, humanoid, underwater, and nanobots. The document compares pneumatic, hydraulic, and electric actuation systems of industrial robots and provides examples of production tooling and actuators. It derives equations and writes matrix products for sequences of rotations that define resulting rotation matrices.

Uploaded by

f0245652
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
66 views3 pages

Robotics Solutions Spring 2021

This document contains solutions to questions about robots from a Spring 2021 robotics sheet. It includes multiple choice questions about topics like robot density in manufacturing and definitions of industrial robots. It also classifies different types of robots like mobile, humanoid, underwater, and nanobots. The document compares pneumatic, hydraulic, and electric actuation systems of industrial robots and provides examples of production tooling and actuators. It derives equations and writes matrix products for sequences of rotations that define resulting rotation matrices.

Uploaded by

f0245652
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Spring 2021

Robotics
Sheet 1 solution

1. MCQ

a) Number of robots per 10,000 persons employed in the manufacturing industry:


o Payload
o Robot density
o Robot capacity
o None of the above
b) An automatically controlled, reprogrammable, multipurpose manipulator
programmable in three or more axes:
o Mobile Robot
o Industrial Robot
o Bio-logically Inspired Robot
o None of the above
c) Number of independent movements the robot can realize with respect to its base:
o End-effector
o Offset
o Articulation
o Work envelope
o None of the above >> Degrees of Freedom
d) Pneumatic actuators are hard to miniaturize because high pressures and flow rates
o True
o False >> Hydraulic Actuator
e) Roomba vacuum cleaner is classified as:
o Industrial Robot
o Surveillance Robot
o Service Robots
o Entertainment
o None of the above

2. Identify the category of each of the following robots

a) Robots on wheels
Mobile Robots
b) Robots on legs:
Humanoid Robots, Bipod…
c) Robots in the air
Unmanned Aerial Vehicles (AUVs) or Micro-aerial Vehicles (MAVs)
d) Robots in the water
Underwater or Submarine Robots or Remotely-operated Vehicles
(ROVs)
e) Miniature robots at or close to the scale of 10-9 meters
Nan-robots or Nanobots
f) Robots that are automatically controlled, reprogrammable, multipurpose and
programmable in three or more axes.

Page 1 of 3
Industrial Robots

3. Compare between pneumatic, hydraulic and electric actuation systems of industrial robots
in terms of accuracy, cost, speed, noise, pollution, reliability and safety.

4. Give two examples for each:


a) Production tooling
o Paint spray gun
o Welding torch
b) Actuators used in robotic arms
o Hydraulic actuators
o Pneumatic actuators

5. Derive the following Equations:

Solution:

6. Consider the following Sequence of rotations:


i. Rotate by φ about the world x-axis
ii. Rotate by θ about the current z-axis
iii. Rotate by ψ about the world y-axis

Page 2 of 3
Write the matrix product that will give the resulting rotation matrix
(Do not perform the matrix multiplication)

Solution:

7. Consider the following Sequence of rotations:


i. Rotate by φ about the world x-axis
ii. Rotate by θ about the current z-axis
iii. Rotate by ψ about the current x-axis
iv. Rotate by α about the world z-axis
Write the matrix product that will give the resulting rotation matrix
(Do not perform the matrix multiplication)

Solution:

Page 3 of 3

You might also like