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Q.1 Discuss any five characteristics of sensors used in Robotics.

Range: Range refers to the minimum and maximum values that a sensor
can detect or measure accurately. For example, a temperature sensor
with a range of -40°C to 100°C can accurately measure temperatures
within that range.
Span: Span is the difference between the upper and lower limits of a
sensor's measurement range. It indicates the total range of values that a
sensor is designed to measure.
Accuracy: Accuracy refers to how closely the measurements from a
sensor match the true or desired value. It indicates the absence of
systematic errors in the sensor's output.
Precision: Precision relates to the repeatability and consistency of a
sensor's measurements when repeated under the same conditions. It
refers to the degree of agreement between multiple measurements of
the same quantity.
Response Time: Response time is the time taken by a sensor to detect
a change in the environment and provide a corresponding output. It
represents the speed at which the sensor can react to a stimulus.
Sensitivity: The sensitivity of a sensor refers to its ability to detect and
measure small changes in the input signal. Different sensors have
varying levels of sensitivity depending on their design and purpose.
Q.2 Why Sensors are important in Robotics? Elaborate.
Sensors play a critical role in robotics as they enable robots to perceive
and interact with their environment effectively.
Sensors provide robots with the ability to perceive and understand their
surroundings. Vision sensors, such as cameras or depth sensors, allow
robots to "see" and recognize objects, navigate through environments,
and perform tasks that require visual understanding. Other sensors, like
proximity sensors or lidar, help robots detect and avoid obstacles,
ensuring safe and efficient navigation.
Sensors provide real-time feedback to robots, allowing them to monitor
their own actions and adjust their behaviour accordingly. Encoders or
position sensors provide feedback on the robot's joint angles or end-
effector positions, facilitating accurate control and motion planning.
Sensors help ensure the safety of robots and the humans around them.
By employing sensors such as proximity sensors, infrared sensors, or
3D scanners, robots can detect obstacles or humans in their vicinity and
take appropriate actions to avoid collisions.
Sensors provide the input data that robots need to make informed
decisions. By collecting and analysing data from various sensors,
robots can generate valuable insights about their environment and make
intelligent choices based on that information.
Q.3 What do you mean by Position Sensor? Explain any one type in
detail.
A position sensor is a type of sensor used to measure the position or
displacement of an object relative to a reference point. It provides
information about the location or movement of an object in a specific
direction.
Position sensors are commonly used in robotics, automation, industrial
machinery, and other applications where precise position feedback is
required.

One type of position sensor is the potentiometer, also known as a

resistive position sensor. A potentiometer works based on the principle
of resistance change. It consists of a resistive element and a sliding
contact or wiper that moves along the resistive track.
When a voltage is applied across the ends of the resistive track, a
potential gradient is established along the track. The wiper, in contact
with the resistive track, creates a variable resistance between the wiper
and the ends of the track. This resistance value changes as the wiper
moves along the track.

Q.4 What are Proximity Sensors? Explain any one type.

Proximity sensors are a type of sensor used to detect the presence or
absence of objects in the proximity of the sensor. They work based on
various principles, such as electromagnetic, capacitive, inductive, or
optical, to sense the target object without physical contact.
Proximity sensors find applications in industries such as
manufacturing, robotics, automotive, and security systems. One type of
proximity sensor is the inductive proximity sensor.

Inductive proximity sensors work based on the principle of

electromagnetic induction. They generate an electromagnetic field and
detect changes in the field when a conductive object enters the sensing
range. These sensors consist of three main components: an oscillator, a
coil, and a detection circuit.
Oscillator: The oscillator generates a high-frequency alternating
current (AC) signal that flows through the coil.
Coil: The coil in the proximity sensor forms an electromagnetic field
around it when the AC signal is applied. The coil is typically wound
around a ferrite core to enhance the magnetic field.
Detection Circuit: The detection circuit monitors the electromagnetic
field. When a conductive object enters the sensing range, it interacts
with the magnetic field, causing a change in the oscillation frequency
or amplitude.

Q5. What are Velocity Sensors? Explain any one type.

Velocity sensors, also known as speed sensors, are devices used to
measure the velocity or speed of an object or a moving component.
These sensors are crucial in various applications, including robotics,
automotive systems, aerospace, and industrial machinery. One type of
velocity sensor is the optical encoder.

Optical encoders utilize the optical detection of changes in position to

measure velocity. They consist of a light source, a rotating disk with
optically encoded patterns, and a photodetector.
Light Source: The encoder has a light source, typically an LED (Light-
Emitting Diode), that emits light towards the rotating disk.
Rotating Disk: The rotating disk contains patterns, such as slots, holes,
or alternating transparent and opaque segments, that create a patterned
structure. As the object or component moves, the disk rotates, and the
patterns pass between the light source and the photodetector.
Photodetector: The photodetector receives the light that passes through
or reflects off the rotating disk. It detects the changes in light intensity
caused by the patterns on the disk as they pass by.

Q.6 Explain the working of Optical Encoder with figure

When the rotating disk moves, the patterns on the disk interrupt or
modulate the light reaching the photodetector. The photodetector
converts the detected light changes into electrical signals. These signals
are then processed to determine the velocity or speed of the rotating
disk or the object being measured.
The encoder can have two types of output signals: incremental and
absolute. Incremental encoders provide information about the relative
position change, and by calculating the time duration between pulses,
the velocity can be determined. Absolute encoders offer information
about the exact position and, by tracking position changes over time,
velocity can be derived.
Optical encoders can provide high resolution and accuracy, allowing
precise velocity measurement. They are commonly used in applications
requiring fine control and feedback, such as motor speed control,
robotic joint movement, or position tracking.

Q.7 What are Tactile Sensors? Explain Piezoelectric Tactile Sensors

with gear.
Tactile sensors are devices used to measure physical interactions and
forces applied through direct contact. Tactile sensors find applications
in various fields, including robotics, prosthetics, human-computer
interaction, and virtual reality.

Piezoelectric Material: The key component of a piezoelectric tactile

sensor is the piezoelectric material. Quartz or tourmaline, or synthetic
materials like piezoelectric ceramics or polymers are used.
Mechanical Deformation: When a force or pressure is applied to the
piezoelectric material, it undergoes mechanical deformation which
causes a redistribution of the electric charges within the material.
Electric Charge Generation: The redistribution of electric charges
within the piezoelectric material results in the generation of an electric
charge across the material. This charge is proportional to the magnitude
of the applied force or pressure.
Electrical Signal Output: The electric charge generated by the
piezoelectric material is collected through electrodes attached to the
material's surface.
Measurement and Analysis: The electrical signal output from the
piezoelectric tactile sensor is typically amplified and processed using
electronic circuitry.
Q.8 What are Force Sensors? Explain the working of ‘Strain gauge’
type Force Sensor.
Force sensors are devices used to measure the force applied to an object
or surface. They are employed in various applications, including
robotics, industrial automation, medical devices, and biomechanics.

Strain gauge force sensors work based on the principle of the

piezoresistive effect. The piezoresistive effect refers to the change in
electrical resistance of a material when subjected to mechanical strain
or deformation. In strain gauge force sensors, a strain gauge is the
primary sensing element.
The strain gauge force sensor operates by measuring the strain-induced
changes in resistance. When an external force is applied to the object
or surface, the strain gauge experiences deformation, causing a change
in its electrical resistance. The change in resistance affects the output
voltage of the Wheatstone bridge circuit.
By measuring the output voltage of the Wheatstone bridge, the strain
gauge force sensor can determine the applied force. Calibration is often
required to establish the relationship between the measured electrical
signal and the corresponding force values.

Q.9 What are Robot end effectors? Explain in detail its types as per
requirements.
Robot end effectors, also known as robot end-of-arm tools or end-of-
arm devices, are the components attached to the end of a robotic arm
or manipulator.
They are responsible for interacting with the environment, performing
specific tasks, and enabling the robot to carry out its intended
application.
There are two main types of end-effectors:
(i) Grippers
(ii) Tools
Grippers: Grippers are the most widely used end effectors in robotics.
They are designed to grasp and manipulate objects of various sizes,
shapes, and materials. Grippers can be categorized into several types
based on their operation mechanism:
 Mechanical Grippers: These grippers use mechanical jaws or
fingers to physically grasp objects. They can be pneumatic,
hydraulic, or electrically actuated.
 Vacuum Grippers: Vacuum grippers utilize suction cups or
vacuum pads to hold and manipulate objects with smooth
surfaces, such as glass or plastic sheets.
 Magnetic Grippers: Magnetic grippers use electromagnetic forces
to attract and hold ferromagnetic objects.
 Adhesive Grippers: Adhesive grippers employ sticky materials or
suction with controlled airflow to grip and release objects.
Tools: Tools are end effectors specifically designed for performing
specific tasks, such as cutting, welding, painting, or drilling. These
tools can be attached to the robot's end effector to enable the execution
of specialized operations.
Welding guns, cutting tools and spray-painting guns are examples of
tool end-effectors.
Q.10 Write a detailed note on Mechanical type grippers.
Mechanical grippers can be further categorized based on their design
and actuation mechanism. Mechanical grippers, including two-finger
grippers, three-finger grippers, and robotic hands, are widely used in
various industrial applications.
Two-Finger Grippers:
Two-finger grippers, also known as parallel grippers, consist of two
opposing jaws or fingers that move towards each other to grasp an
object. These grippers typically have symmetrical finger movement,
providing a balanced grip on the object.
Advantages:
 Simplicity: Straightforward design, easy to implement and
operate.
 Versatility: They can handle a wide range of object sizes and
shapes,
 Precision: Offer precise control over the gripping force, allowing
for delicate handling of fragile objects.
Limitations:
 Two-finger grippers may not be able to fully envelop objects with
complex shapes or irregular surfaces.
Three-Finger Grippers:
Three-finger grippers, as the name suggests, consist of three fingers
arranged in a triangular configuration. The fingers can move
independently or together to grasp objects. This design provides greater
flexibility in grasping objects with irregular shapes or multiple contact
points.
Advantages:
 Enhanced Dexterity: The additional finger enables more flexible
grasping, allowing for better manipulation of objects
  Improved Stability: Due to triangular configuration, offers
stability and balance during gripping, reducing the chances of
slippage.
Limitations:
 Operating a three-finger gripper requires more sophisticated
control algorithms compared to two-finger grippers.
Robotic Hands:
Robotic hands are advanced mechanical grippers that aim to mimic the
human hand's dexterity and functionality. They consist of multiple
fingers, typically three or more, with multiple joints and sensors.
Robotic hands are designed to grasp objects with a higher level of
precision and adaptability, enabling complex manipulation tasks.
Advantages:
 Human-like Manipulation: Robotic hands offer a high degree of
dexterity and can perform delicate grasping and manipulation
tasks.
 Object Recognition: Some robotic hands incorporate sensors,
such as force sensors or tactile sensors, which allow for object
recognition and fine control during grasping.
Limitations:
 Complexity: Robotic hands are more complex in design and
control compared to simpler gripper types, requiring advanced
algorithms and more intricate mechanical components.
 Cost: The advanced features and capabilities of robotic hands
often come with a higher cost compared to other gripper types.
Q11. Discuss Engelberger’s design principles followed for assessing
gripping Requirements.
The following list is based on Engelberger's discussion of these factors:
1. The part surface to be grasped must be reachable. For example, it
must not be enclosed within a chuck or other holding fixture.

2. The size variation of the part must be accounted for, and how this
might influence the accuracy of locating the part. For example, there
might be a problem in placing a rough casting or forging into a chuck
for machining operations.

3. The gripper design must accommodate the change in size that occurs
between part loading and unloading. For example, the part size is
reduced in machining and forging operations.

4. Consideration must be given to the potential problem of scratching

and distorting the part during gripping, if the part is fragile or has
delicate surfaces.

5. If there is a choice between two different dimensions on a part, the

larger dimension should be selected for grasping. Holding the part by
its larger surface will provide better control and stability of the part in
positioning.

6. Gripper fingers can be designed to conform to the part shape by using

resilient pads or self-aligning fingers.
Q.12 What are the different mechanism for Mechanical grippers used
in Robotics.

Parallel Motion Mechanism: Parallel motion grippers, also known as

two-jaw grippers, utilize a simple parallel linkage mechanism. The
gripper jaws move towards each other in a parallel motion to grasp the
object. This mechanism provides symmetrical gripping force and is
commonly actuated using pneumatic cylinders, hydraulic cylinders, or
electric motors.

Angular Motion Mechanism: Angular motion grippers, also referred to

as angular jaw grippers, use an angular linkage mechanism. The gripper
jaws or fingers rotate around a central pivot point to close or open. This
mechanism provides a wide gripping range and is often actuated using
pneumatic or electric rotary actuators.
Rack and Pinion Mechanism: Rack and pinion grippers use a rack and
pinion gear mechanism to achieve gripping action. The gripper fingers
or jaws are attached to a rack that moves linearly along a set of teeth on
a pinion gear. This mechanism is often actuated using electric motors
or pneumatic cylinders.

Scissor Mechanism: Scissor grippers, as the name suggests, employ a

scissor-like mechanism to close or open the gripper fingers. The gripper
fingers are connected by a series of pivot points, enabling the fingers
to move in a scissor-like motion. Scissor grippers are typically actuated
using pneumatic cylinders or electric motors.
Q13. Explain the working and applications of Vacuum grippers.
Vacuum grippers are devices that use the power of suction to grip and
handle objects. They are commonly used in various industries,
including manufacturing, logistics, packaging, and robotics.

Vacuum grippers are equipped with a suction cup or a pad made of a

flexible material, such as rubber or silicone. When activated, a vacuum
pump or a compressed air system creates a negative pressure inside the
cup, causing it to deform and tightly adhere to the object's surface.
Once the suction cup is attached to the object, the negative pressure
inside the cup creates a strong gripping force. This force allows the
vacuum gripper to securely hold the object without the need for
additional clamps, mechanical arms, or gripping mechanisms.
When the gripping operation is complete or the object needs to be
released, the vacuum pump or compressed air system stops generating
negative pressure. This action breaks the seal between the suction cup
and the object, allowing it to be released.
Vacuum grippers are widely used in manufacturing and assembly lines
to handle various objects, such as metal sheets, glass panels, plastic
components, and electronic devices.

Q.14 Explain the working & and an application of Magnetic Gripper.

Magnetic grippers, also known as magnetic end-effectors, are devices
that use the power of magnetism to grip and manipulate ferromagnetic
objects. They are commonly employed in industries such as
manufacturing, robotics, material handling, and logistics.

Magnetic grippers consist of one or more permanent magnets or

electromagnets that generate a strong magnetic field. These magnets
are strategically positioned within the gripper to create a concentrated
magnetic force.
When the magnetic gripper is brought close to a ferromagnetic object,
such as a steel plate or component, the magnetic field interacts with the
object's magnetic properties. This interaction creates an attractive force
between the gripper and the object, causing them to stick together.
The magnetic force generated by the gripper allows it to securely hold
the ferromagnetic object. The strength of the magnetic field and the
surface area of contact determine the holding force.
Magnetic grippers are extensively used to handle ferromagnetic
materials like steel sheets, metal plates, bars, or other magnetic
components. Magnetic grippers are utilized in sorting and separation
applications. For instance, in recycling plants, they can be used to
extract ferromagnetic materials from a mix of waste materials.

Q.15. What do you understand by Robotic Spray Painting? State the

features required for the same.
Robotic spray painting refers to the automated process of applying
paint or coatings to objects or surfaces using robotic systems. It
involves the use of robotic arms equipped with spray guns or paint
applicators to precisely and efficiently coat objects with paint, varnish,
or other coatings.
Robotic spray painting offers numerous advantages over manual
painting, including improved quality, consistency, speed, and reduced
labour costs.
Features required for robotic spray painting include:
Robotic Arm: A robotic arm with multiple degrees of freedom is
necessary. The arm should be capable of moving in various directions
and angles to reach all parts of the object.
Spray Gun or Applicator: The robotic system needs a spray gun or paint
applicator specifically designed for automated painting applications.
Programming and Control Software: The robotic spray-painting system
needs sophisticated programming and control software to define the
painting paths, adjust the spray parameters, and coordinate the
movements of the robotic arm and the spray gun.
Precision: The robotic system should have high precision and
repeatability to ensure that the paint is evenly applied without drips,
sags, or uneven coverage.
Vision and Sensor Systems: Vision systems can be used to detect the
object's shape, size, and contours, allowing the robotic system to adapt
and adjust the painting parameters accordingly. Sensors can monitor
variables such as distance, speed, or pressure to ensure optimal painting
conditions.

Q.16 What do you understand by Robotic Spot Welding? State the

features required for the same.
Robotic spot welding refers to the process of joining two or more metal
components together using a robotic system equipped with spot
welding tools. Spot welding is a commonly used technique in industries
such as automotive manufacturing, sheet metal fabrication, and
appliance production.
It involves the application of localized heat and pressure to create a
weld at specific points, resulting in a strong and efficient bond between
the metal pieces.
Features required for robotic spot welding include:
Robotic Arm: A robotic arm with multiple degrees of freedom is
necessary to position the spot welding tools accurately.
Spot Welding Gun: The robotic system requires a spot-welding gun or
electrode holder to deliver the electrical current and apply pressure to
the welding points. The gun should be designed for automated spot
welding.
Programming and Control Software: Robotic spot-welding systems
rely on advanced programming and control software to define the
welding paths, adjust welding parameters, and coordinate the
movements of the robotic arm and the welding gun.
Welding Power Supply: A welding power supply is needed to provide
the necessary electrical current for the spot-welding process. The power
supply should be compatible with the robotic system and capable of
delivering the required voltage and current levels to create reliable and
strong welds.
Vision and Sensor Systems: Vision systems can be used to detect the
position and orientation of the components, ensuring accurate welding.
Sensors can monitor variables such as current, voltage, or temperature
to provide feedback and control the welding process for optimal results.
Precision and Control: Robotic spot-welding systems must offer high
precision and control to ensure accurate placement of the spot welds.
This includes precise positioning of the welding gun on the
components, consistent pressure application, and controlled delivery of
the electrical current.
Safety Measures: Safety features are crucial in robotic spot-welding
systems to protect operators and maintain a safe working environment.
These measures may include barriers, light curtains, emergency stop
systems, and safety sensors to detect any potential hazards and ensure
safe operation.