Savitribai Phule Pune University

Department of Mechanical Engineering

Unit 3 : Robot Drive Systems - Theory Question Bank

Subject: Automation and Robotics [402051C] Class: BE

Sr. Question Statement CO BL Marks

No.

1 Explain and illustrate Pneumatic/Hydraulic Drives and its 3 2, 4 08

components used in Robotics.

2 Compare salient features, applications and limitations of 3 4 09

Pneumatic and Hydraulic Drives.

3 What are the factors which must be considered while 3 2, 4 08

choosing the drive system for robots?

4 Explain in brief: 3 2 08
a) DC Servomotors
b) Stepper motors
c) AC servo motors
d) Brushless DC motors (BLDC)

5 Compare salient features, applications and limitations of 3 4 09

Mechanical and Electrical Drives.

6 Explain and illustrate at least four types of motion 3 2 08

convention?

7 Compare and illustrate salient features, applications and 3 4 09

limitations of Planetary, Harmonic and Cycloidal Gearbox.

8 Explain the various drive system used in an industrial robot 3 3 08

with their selection criteria and compare their features,
merits and demerits.

9 Why servomotors are preferred as compared with stepper 3 3 06

motor in robot applications?

10 What is an actuator? Explain and illustrate Micro actuators 3 3 06

and their selection.
 Savitribai Phule Pune University

Department of Mechanical Engineering

Unit 4 : End-effectors & Sensors in Automation - Theory Question Bank

Subject: Automation and Robotics [402051C] Class: BE

Sr. Question Statement CO BL Marks

No.

1 What are the End-effectors? Explain their Types, Classification, 4 2, 4 09

Significance and Applications used in Robotics.

2 What are the Grippers? Explain their Types, Classification, 4 4 09

Significance and Applications used in Robotics.

3 What are the Toolings? Explain their Types, Classification, 4 2, 4 09

Significance and Applications used in Robotics.

4 Describe the Construction, Working, Selection and Design 4 2 08

Considerations of End-effectors/Grippers/Toolings Interface
used in various Robotic Applications?

5 What is Compliance used in Robotics? What is the significance 4 2, 4 06

of Compliance?

6 Explain and compare Active and Passive Compliance. Also 4 2 09

explain remote control compliance (RCC) device for assembly
operations.

7 What are the Sensors/Transducers? Explain their Types, 4 4 09

Classification, Significance and Applications in Robotic
applications?

8 Describe the Construction, Working, Selection and Design 4 3 08

Considerations of Sensors/Transducers used in various Robotic
Applications?

9 Describe the Construction, Working, Selection and Design 4 3 08

Considerations of Resolvers/ Encoders/ Switches used in various
Robotic Applications?

10 Describe the Construction, Working, Selection and Design 4 3 08

Considerations of Position/ Touch / Torque/ Force/ Range/
Safety/ Machine Vision Sensors and Transduces used in various
Robotic Applications?
 Savitribai Phule Pune University

Department of Mechanical Engineering

Unit 5 : Mathematical Modeling of Serial and Parallel Robots - Theory Question Bank

Subject: Automation and Robotics [402051C] Class: BE

Sr. Question Statement CO BL Marks

No.

1 Explain DH Parameters with one example of basic robot. 5 2,4 08

2 Compare, explain and illustrate Direct and Inverse 5 4 09

Kinematics applicable to Robotics along with its
applications.

3 Establish the mathematical expressions of forward 5 2,4 08

transformation of a spatial 2 degree of freedom arm with two
joints (RR/RP/PR/PP).

4 Define joint coordinates of a robot. 5 2 06

5 Write a short note on Jacobian Transformation with one 5 4 06

example.

6 Compare, explain and illustrate Direct and Inverse Dynamics 5 2 09

applicable to Robotics along with its applications.

7 Establish the mathematical expressions of direct dynamics of 5 4 09

two joints/link manipulator with two joints (RR/RP/PR/PP)
using Lagrangian Approach.

8 Explain and illustrate Lagrangian and Eulerian approach for 5 3 08

formulation of equations of motion of planar two link/joint
manipulator applicable to Robotics.

9 Explain and illustrate Newtonian and Eularian approach for 5 3 08

formulation of equations of motion of planar two link/joint
manipulator applicable to Robotics.

10 Compare and illustrate Lagrangian-Eulerian and Newtonian- 5 3 06

Eularian Approaches for formulation of equations of motion
of planar two link/joint manipulator applicable to Robotics.
 Savitribai Phule Pune University

Department of Mechanical Engineering

Unit 6 : Performance and Applications of Robots - Theory Question Bank

Subject: Automation and Robotics [402051C] Class: BE

Sr. Question Statement CO BL Marks

No.

1 What are the design considerations for functional safety in 6 2, 4 08

robotic applications?

2 List out and explain the considerations in Robot Cell Design 6 2, 4 09

and selection.

3 Write a note on “Robot Performance and Economics.” 6 2, 4 08

4 What are the uses of Robots in Manufacturing Applications? 6 2, 3 09

5 Explain Motion Programming, Simulation and Off-line 6 2, 4 08

Programming.

6 What are the different Types of Robot Programming? Explain 6 2, 3 09

and illustrate in details for applications like
Palletizing/Loading/Unloading/Material Handling, etc.

7 Write a note on 6 3 08
a) Humanoid Robots
b) Robotic Assistive Technologies for Rehabilitation of
Humans

8 Explain and illustrate the following terms related to Mobile 6 3 08

Robots:
a) Wheeled robots
b) Legged robots
c) Tracked robots
d) Hybrid Terrestrial Mobile robots.

9 Write short note with illustrates examples on Field and Service 6 2 08

Robot.

10 Explain the concept of Unmanned Aerial Vehicle (UAV) and 6 3 06

Autonomous Underwater Vehicles (AUV).