BTECH IV YEAR II SEMESTER (AR18)

Name of the Subject : ROBOTICS

Name of the Subject Coordinator : Mrs S RAMA LAKSHMI MALLADI

QUESTION BANK
(PREPARE QUESTION BANK TO COVER ALL THE TOPICS)
S.No QUESTIONS Level Course MARKS
Outcome
UNIT 1
INTRODUCTION: Automation and Robotics, CAD/CAM and Robotics – An over view of Robotics –
present and future applications – classification by coordinate system and control system.
1 Define base and tool coordinate systems L1 CO1 4M
2 What is work volume and work envelope? L1 CO1 4M
3 What are the four basic robot configurations available L1 CO1 4M
commercially?
4 Name the important specifications of an industrial robot. L2 CO1 4M
5 Classify the robot as per the type of control and mobility and L2 CO1 4M
work volume
6 Describe in detail the anatomy of an industrial robot L2 CO1 8M
7 Describe the industrial application of robots with examples L2 CO1 8M
8 Briefly explain in the following terms: L2 CO1 8M
(i) Payload (ii) compliance (iii) Precision (iv) Accuracy.
9 Classify the robots according to the coordinates of motion. with L1 CO1 8M
a sketch and example, explain the features of each type.
10 Sketch a robot wrist and explain it’s the joint movements and its L2 CO1 8M
configuration.
UNIT 2

COMPONENTS OF THE INDUSTRIAL ROBOTICS: Function line diagram representation of robot

arms, common types of arms. Components, Architecture, number of degrees of freedom –
Requirements and challenges of end effectors, determination of the end effectors, comparison of
Electric, Hydraulic and Pneumatic types of locomotion devices.
1 What is end effector? Classify L1 CO2 4M
2 What is the difference between internal grippers and external L1 CO2 4M
grippers?
3 What is a mechanical gripper? Explain. L1 CO2 4M
4 What are the types of hydraulic actuators? L2 CO2 4M
5 Write salient features of different drive systems used in robots L2 CO2 4M
6 Discuss in detail the selection and design considerations of L2 CO2 8M
grippers in robot
7 With suitable illustration explain working on external and L2 CO2 8M
 internal grippers
8 Discuss the performance characteristics of actuators. Compare L2 CO2 8M
electrical, pneumatic & hydraulic actuators for their
characteristics.
9 Discuss about magnetic and vacuum grippers with examples L2 CO2 8M
and sketches
10 Describe the types of end effector & gripper mechanisms with L2 CO2 8M
simple sketches
UNIT 3
MOTION ANALYSIS: Homogeneous transformations as applicable to rotation and translation –
problems.
MANIPULATOR KINEMATICS: Specifications of matrices, D-H notation joint coordinates and world
coordinates Forward and inverse kinematics –problems.
1 What is direct kinematic analysis? L2 CO3 4M
2 Write the direct kinematics of three link planar arm? L2 CO3 4M
3 Write the inverse kinematics of three link planar arm? L2 CO3 4M
4 Explain the D-H algorithm. L2 CO3 4M
5 What is meant by Inverse kinematics of robots? L2 CO3 4M
6 Derive the forward and reverse transformation of 2-Degree of L2 CO3 8M
freedom and 3- degree of freedom arm.
7 Differentiate forward and inverse kinematics with examples. L2 CO3 8M
8 Derive the principal rotation matrices of a manipulator? L3 CO3 8M
9 Derive the inverse kinematics of a 3RRR planar manipulator L3 CO3 8M
10 Explain the implementation of DH notation for a links L3 CO3 8M
coordinate system and joint parameters
UNIT 4
Differential transformation and manipulators, Jacobians – problems Dynamics: Lagrange – Euler and
Newton – Euler formulations – Problems.
1 What is Lagrange – Euler formulations? What are its L2 CO4 4M
applications?
2 What is dynamic modeling? L2 CO4 4M
3 What are the advantages of Euler-Lagrange formulation L2 CO4 4M
4 What is jacobian? L2 CO4 4M
5 Distinguish between Euler-Lagrange and Newton-Euler L2 CO4 4M
formulation.
6 What is differential transformation? How are they useful in the L2 CO4 8M
context of Robotics?
7 Explain about Newton – Euler formulations by considering an L2 CO4 8M
example.
8 Explain the steps involved in the formulation of Lagrange-Euler L3 CO4 8M
dynamic model.
9 Distinguish the advantages and disadvantages between L3 CO4 8M
Lagrange-Euler and Newton-Euler formulation.
10 Determine the dynamic equations for the two-link manipulator L3 CO4 8M
using Lagrange-Euler formulation.
 UNIT 5
General considerations in path description and generation. Trajectory planning and avoidance of
obstacles, path planning, Skew motion, joint integrated motion – straight line motion – Robot
programming, languages and software packages-description of paths with a robot programming
language.
1 Define skew motion L2 CO5 4M
2 What are different robot programming languages? L2 CO5 4M
3 Illustrate and explain joint integrated motion. L2 CO5 4M
4 Illustrate and explain straight line motion. L2 CO5 4M
5 Define path and trajectory of a robot L2 CO5 4M
6 Explain about Robot motion planning. L2 CO5 8M
7 Write about Textual Robot languages programming as a path in L2 CO5 8M
space.
8 Explain about importance of Robot Programming lead through L3 CO5 8M
programming
9 Discuss the relative merits and demerits of different textual robot L3 CO5 8M
languages.
10 Explain with neat sketch about Trajectory planning and avoidance L3 CO5 8M
of obstacles and path planning.
UNIT 6
ROBOT ACTUATORS AND FEED BACK COMPONENTS:
Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors. Feedback components: position
sensors – potentiometers, resolvers, encoders– Velocity sensors.
ROBOT APPLICATIONS IN MANUFACTURING: Material Transfer -Material handling, loading and
unloading- Processing - spot and continuous arc welding & spray painting - Assembly and Inspection.
1 List out the types of Drive systems used in Robots. L2 CO5 4M
2 Explain in brief about spray painting application in robots. L2 CO5 4M
3 Explain about Hydraulic actuators. L2 CO5 4M
4 Explain about electric & stepper motors L2 CO5 4M
5 Explain the working of position sensors. L2 CO5 4M
6 Explain about types of actuators with neat sketch. L2 CO5 8M
7 Explain about welding operations of robot with neat sketch. L2 CO5 8M
8 What are general considerations in Robot material handling? L3 CO5 8M
Explain in detail about safety sensors and safety Monitoring.
9 Define material transfer application? Explain about simple pick L3 CO5 8M
and operation with neat sketch
10 What are future manufacturing applications of robot? What is the L3 CO5 8M
role played by control systems in the functioning of Robots?

L1: Remembering
L2: Understanding
L3: Applying
L4: Analyzing
L5: Evaluating
Course Outcomes:
At the end of the Course, Student will be able to:
CO-1 Student will learn various robot configuration and components.
CO-2 Students will know about different components, applications & challenges
of end effectors
CO-3 Student will Carry out kinematic and dynamic analysis for
simple serial kinematic chains
CO-4 Student will able to Perform trajectory planning for a manipulator by
avoiding obstacles.
CO-5 Students will know how to select appropriate actuators and
sensors for a robot based on specific application.
CO-6
Text Books:
1 Industrial Robotics / Groover M P /Pearson Edu.
2 Robotics and Control / Mittal R K & Nagrath I J / TMH.
3 Introduction to Robotics / John J Craig / Pearson Edu.
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Reference Books:
1 Robotics / Fu K S/ McGraw Hill. 2. Robotic Engineering /
2 Richard D. Klafter, Prentice Hall. 3. Robot Analysis and
3 Intelligence / Asada and Slow time / Wiley InterScience
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