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SRM VALLIAMMAI ENGINEERING COLLEGE

(An Autonomous Institution)
SRM Nagar, Kattankulathur – 603 203.

DEPARTMENT OF ELECTRONICS AND INSTRUMENTATION ENGINEERING

QUESTION BANK

ww UNIT I - FUNDAMENTALS OF ROBOT

Robot - Definition - Robot Anatomy - Co ordinate Systems, Work Envelope Types and Classification-
Specifications-Pitch, Yaw, Roll, Joint Notations, Speed of Motion, Pay Load- Robot Parts and their Functions-
w.E
Need for Robots-Different Applications.
PART - A
Q.No
asyQuestions
BT
Level Competence

1.
2.
Define a Robot.
En
Name the commonly used robot configurations.
BTL 1
BTL 1
Remember
Remember
3.
4.
Sketch rotational joint.
What is meant by work volume?
gi nee
BTL 3
BTL 1
Apply
Remember
5.
6.
List out the types of joint notations.
What is meant by Pitch? rin BTL 1
BTL 1
Remember
Remember
7. Define base and tool coordinate system g.n BTL 1 Remember
8.
9.
Give the benefits of robots.
Infer robot anatomy.
e BTL 2
BTL 4
Understand

t
Analyze
10. Describe work envelope BTL 2 Understand
11. Write the benefits of industrial automation systems. BTL 6 Create
12. Give the specifications of industrial robot. BTL 2 Understand
13. Evaluate work space. BTL 5 Evaluate

14. Analyze spatial resolution in robotics. BTL 4 Analyze

15. Classify the motion control of robot arm. BTL 4 Analyze
16. Define Yaw, Pitch and Roll BTL 2 Understand

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17. Examine pay load. BTL 3 Apply

18. Write any two laws of robotics. BTL 6 Create
19. Sketch linear joint. BTL 3 Apply
20 Compare work volume with workspace. BTL 5 Evaluate

PART - B
1. Describe any four work envelop of a robot with suitable diagram and BTL 1 Remember
mention its applications. (13)
2. Explain the important specifications of a robot and choose a suitable BTL 5 Evaluate
robot configuration for transferring 200gram aluminium rod of 150

3. ww
mm length. Give your justification. (13)
(i) Sketch a robot wrist and indicate wrist pitch, wrist yaw and wrist BTL 3 Apply
roll.
w.E
(ii) Explain about major parts of a robot with their functions.
(6)
(7) BTL 4 Analyze
4. (i)
(ii) asy
Discuss about the need for Robots.
Present a brief survey on how robots are applied in inspection
(3) BTL 2 Understand

5.
work.
En (10)
Describe any four basic robot configurations with neat sketch and BTL 1 Remember

6.
narrate individual merits, demerits.
Explain the following:
gi (13)

nee
(i) Robot anatomy. (7) BTL 5 Evaluate
(ii) Robot wrist. rin(6)
7. Write short notes on the following:
g.n BTL 3 Apply
(i)
(ii)
(iii)
Types of robot Controls.
Spatial resolution.
Repeatability.
(5)
(4)
(4)
e t
8. (i) Explain about the construction of robot cell with neat sketch. (7) BTL 4 Analyze
(ii) Explain base and tool Coordinate system. (6)
9. Illustrate with(neat sketch about the basic robot motions. (13) BTL 3 Apply
i
10. Summarize the i advantages of four common robot configuration and BTL 6 Create
deduce their simple
) sketches. (13)
11. (i) Discuss iabout robot machine interface with neat diagram. (7) BTL 2 Understand
i
)

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(ii)With neat sketch describe the multiple robot coordination in BTL 1 Remember
manufacturing. (6)
12. With neat sketches explain the classification of robot based on BTL 5 Evaluate
(i) Configuration. (4)
(ii) Degrees of Freedom. (3)
(iii Work volume. (3)
)(iv) Controls. (3)
13. Prepare the selection criteria and factors in the design of a robot. (13) BTL 4 Analyze
14. Describe salient features of robot in different fields of applications. (13) BTL 1 Remember
PART C

1.
ww
Analyze the structure of robot in detail. (15) BTL 4 Analyze
2.

3.
w.E
Write short notes on application of robot in various fields in emerging BTL 6
technology.
Generalize the evolution of robots and robotics.
(15)
(15) BTL 6
Create

Create
4.
purchase a commercial robot. asy
Explain the various specifications that one should look forward to BTL 4
(15)
Analyze

En
gi nee
UNITII - II ROBOT DRIVE SYSTEMS AND END EFFECTORS

Pneumatic Drives-Hydraulic Drives-Mechanical Drives-Electrical Drives-D.C. Servo Motors, Stepper

rin
Motors, A.C. Servo Motors-Salient Features, Applications and Comparison of all these Drives, End Effectors-
Grippers-Mechanical Grippers, Pneumatic and Hydraulic- Grippers, Magnetic Grippers, Vacuum Grippers;

g.n
Two Fingered and Three Fingered Grippers; Internal Grippers and External Grippers; Selection and Design
Considerations

Q.No
Questions
PART - A
e BT
Level t
Competence

1. What is an actuator? BTL 1 Remember

2. Discriminate the factors which must be considered while choosing the BTL 5 Evaluate
drive system for robots.
3. What is meant by gripper? Give the types of grippers. BTL 2 Understand
4. List the advantages and dis-advantages of hydraulic drive. BTL 1 Remember
5. List the advantages and disadvantages of pneumatic actuators. BTL 1 Remember
6. Point out types of joints. BTL 1 Remember
7. List the advantages and dis-advantages of Electrical actuator. BTL 1 Remember

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8. Why servomotors are preferred with stepper motor in robot BTL 3 Apply
applications?
9. Which type of drive system is more suitable for heavy load robot BTL 4 Analyze
application?
10. What is end effector? Give some examples of Robot End Effector. BTL 2 Understand
11. Enumerate the difference between o pen loop and closed loop control BTL 6 Create
system.
12. In what ways do end effectors differ from the human hand? BTL 6 Create
13. Examine the difference between internal grippers and external grippers. BTL 3 Apply
14. Infer any four important factors to be considered i n the selection and BTL 4 Analyze

15. ww
design of grippers.
Point out any two unique features of a stepper motor. BTL 4 Analyze
16.
17. w.E
Give any two limitations of magnetic grippers.
Classify the types of mechanical gripper.
BTL 2
BTL 3
Understand
Apply
18.
19.
asy
List the types of drive systems used in robots.
Assess the characteristics of actuating systems.
BTL 1
BTL 5
Remember
Evaluate
20. En
Predict the application of stripping device. BTL 2 Understand

1.
gi
PART - B
nee
Define end effector. Draw the different mechanism used in the gripper BTL 1 Remember

2.
and describe any two mechanism in detail. (13)
Classify the end effector. Draw the different mechanism used in the BTL 5 rin Evaluate

3.
gripper and give its application.
Explain with neat sketch about following:
(13)
g.n BTL 4 Analyze
(i) AC servo motors.
(ii) DC servo motors.
(7)
(6)
e t
4. (i) Discuss about the features of the various drive systems for an BTL 2 Understand
Industrial robot. (7)
(ii) Discuss about the features of the various drive systems for an
Industrial robot. (6)
5. Describe the factors to be considered while selecting the grippers for BTL 1 Remember
robot with example. (13)
6. (i) Explain vacuum grippers, with reference to the principle and BTL 5 Evaluate
applications. (7)
(ii) Explain the robot and end effector interface functions. (6)

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7. Examine the features of hydraulic and pneumatic actuators systems in BTL 3 Apply
detail. (13)
8. (i) Discuss about various considerations for selection and design of a BTL 2 Understand
gripper. (6)
(ii) Explain working principle, salient features and applications of A.C. BTL 4 Analyze
and D.C. (Servo motor as robot drive system. (7)
i
9. Compare the servo motor with stepper motor, choose suitable drive BTL 4 Analyze
i
system for industrial robot along with your justification. (13)
)
10. (i) Write notei on gripper selection and design. (3) BTL 6 Create
i
(ii) Describe the magnetic grippers in robot. (10) BTL 2 Understand
)
11. (i) Illustrate Pneumatic actuators system with neat sketch. (7) BTL 3 Apply

12.
ww
(ii) Illustrate hydraulic actuators system with neat sketch. (6)
Generalize vacuum cups, adhesive grippers, hooks, scoops and other BTL 6 Create

13. w.E
miscellaneous grippers in detail.
Explain the working of a stepper motor with suitable diagrams.
(13)
(13) BTL 4 Analyze
14.
asy
Justify whether the following statement is true or false. Degrees of BTL 4
freedom depend upon the number of actuators used in a robot. (13)
Analyze

1. En
PART C
Analyze about the robot drive system selection procedure in detail. (15) BTL 4 Analyze
2.
3.
gi
Enumerate the design and selection of various grippers in robotics. (15) BTL 4

nee
Discuss the design and selection parameters of three fingered grippers.
(15)
BTL 6
Analyze
Create

4.
limitations of non-servo and servo controlled robots. rin
Discriminate the salient features, capabilities, applications, merits and BTL 5
(15)
Evaluate

g.n
e t

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UNIT - III SENSORS AND MACHINE VISION

Requirements of a sensor, Principles and Applications of the following types of sensors- Position sensors -
Piezo Electric Sensor, LVDT, Resolvers, Optical Encoders, pneumatic Position Sensors, Range Sensors
Triangulations Principles, Structured, Lighting Approach, Time of Flight, Range Finders, Laser Range Meters,
Touch Sensors ,binary Sensors., Analog Sensors, Wrist Sensors, Compliance Sensors, Slip Sensors, Camera,
Frame Grabber, Sensing and Digitizing Image Data- Signal Conversion, Image Storage, Lighting Techniques,
Image Processing and Analysis-Data Reduction, Segmentation, Feature Extraction, Object Recognition, Other
Algorithms, Applications- Inspection, Identification, Visual Serving and Navigation.
PART - A
Q.No BT
Competence
1. ww Questions
Define vision and vision system.
Level
BTL 1 Evaluate
2.

3.
w.E
Classify the vision systems? What are the common imaging devices used BTL 1
for robot vision system?
Give an application example of a proximity sensor. BTL 2
Remember

Understand
4. Define machine vision. asy BTL 1 Remember
5. List the machine vision stages.
En BTL 1 Remember
6.
7.
8.
What is segmentation? What is thresholding?
Define sensor.
Classify sensors for robot applications.
gi nee
BTL 1
BTL 1
BTL 3
Remember
Remember
Apply
9. Infer the use of inductive type proximity sensor.
rin BTL 4 Analyze
10.
11.
Give some feedback devices used in robotics.
Generalize various techniques in image processing and analysis. g.n BTL 2
BTL 6
Understand
Create
12.

13.
Enumerate the areas of application of image processing in the field BTL 6
of robots.
Write about hall effect sensors. BTL 3
e t
Create

Apply
14. Infer the types of light sensors in robot applications. BTL 4 Analyze

15. Mention any two examples for contact and non-contact sensor. BTL 4 Analyze
16. Classify the position sensors. BTL 3 Apply
17. Differentiate between pyroelectric sensor and piezoelectric sensors. BTL 2 Understand
18. Give the benefits of LVDT. BTL 2 Understand
19. Assess any two algorithms for image enhancement application. BTL 5 Evaluate

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20. Assess the use of frame grabber. BTL 5 Evaluate

PART - B
1. Describe the following range sensing techniques BTL 1 Remember
(i) Triangulations technique. (7)
(ii) Structured lighting approach. (6)
2. With neat sketch explain the following: BTL 5 Evaluate
(i) Touch sensor. (7)

3. ww
(ii) Analog sensor.
(i) Describe the piezo electric sensors.
(6)
(7) BTL 2 Understand

4.
w.E
(ii) Explain in detail about tactile and non-tactile sensors.
With neat sketch explain the following:
(6) BTL 5
BTL 5
Evaluate
Evaluate
(i) Resolvers.
(ii) Optical Encoders. asy (6)
(7)
5.
En
Describe the working principle of Proximity sensors with neat sketch.
(13)
BTL 1 Remember

6.

7.
convolution.
gi
Explain mono and stereo vision in the context of robot vision digital

nee (13)
Explain how image segmentation helps to improve quality of images in
BTL 5

BTL 4
Evaluate

Analyze

8.
vision system.
(i) What do you mean by robot vision? Explain in detail. rin
(13)
(7) BTL 4 Analyze
(ii) Explain and compare various lighting techniques used in machine
vision. (6) g.n
9.
(
Write notes oni (a) Thresholding (b) Edge detection (c) Object recognition
(d) Smoothing.i
) analysis? What are the various techniques in image
(13) eBTL 3
t
Apply

10. What is image BTL 6 Create

processing andi analysis? Write any two algorithms for image
i
enhancement application in brief. (13)
)
11. With suitable sketch citing appropriate application describe the following BTL 2 Understand
(i) Wrist sensor. (7)
(ii) Binary sensor. (6)
12. With suitable sketch citing appropriate application describe the following BTL 2 Understand
(i) Compliance sensors. (7)
(ii) Slip sensors. (6)

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13. Describe the working principle of position sensors with neat sketch. (13) BTL 1 Remember
14. How are the images processed and analyzed in a machine vision system? BTL 4 Analyze
Explain with suitable example. (13)
PART C
1. Explain the working principle of range finders, laser range meters along BTL 4 Analyze
with respective circuit. (15)
2. Prepare the factors to be considered for selection of sensors and write BTL 4 Analyze
down the classifications of sensors. (15)
3. Write any one algorithm for the edge detection and segmentation BTL 6 Create
of an image. Describe the industrial applications of image processing in
the field of mechanical engineering. (15)
4.
ww
Explain digital convolution in the context of robot vision digital
convolution. (15)
BTL 4 Analyze

w.E
asy
En
UNIT IV ROBOT KINEMATICS AND ROBOT PROGRAMMING
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of

gi
manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3
Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator

nee
Mechanism Design-Derivations and problems. Lead through Programming, Robot programming
Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple
Programs.
PART A
rin
Q.No

1.
Question

Why kinematic study of the robot is important?

g.n
BT
Level
BTL 4
Competence

Analyze
2.
3.
List out the typical motion command.
Write the meaning of the command
DMOVE (<4, 5, 6> <30, -45, 90>).
BTL 1
BTL 6 e Remember
Create
t
4. Classify the methods of Robot programming. BTL 3 Apply
5. Define a manipulator. BTL 1 Remember
6. Differentiate between Forward kinematics and reverse kinematics. BTL 2 Understand
7. Mention the disadvantages of lead through programming. BTL 5 Evaluate
8. Define Degrees of freedom. BTL 1 Remember
9. List the limitations of online robot programming. BTL 1 Remember
10. Illustrate irregular smooth motions. BTL 3 Apply
11. Write end effectors commands. BTL 5 Evaluate
12. What is teach pendant? BTL 1 Remember
13. Predict the reason for defining points in a program. BTL 2 Understand
14. What is meant by kinematics? BTL 3 Apply

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15. What are the ways of accomplishing lead through programming? BTL 4 Analyze
16. Write the meaning of the command DMOVE (1, 10). BTL 6 Create
17. What are the commands used to execute the speed of the robot in VAL BTL 2 Understand
programming?
18. Explain position representation. BTL 4 Analyze
19. State the reason for homogeneous transformation BTL 2 Understand
20. List the limitations of offline robot programming. BTL 1 Remember
PART B
1. i) Write about sensors and end effectors commands with (7) BTL 6 Create
example.
ii) Differentiate forward and reverse transformation with (6) BTL 4 Analyze
example
2. i) Write note on motion commands of robots (7) BTL 6 Create

ww
ii) Explain detail manual lead through programming method in (6)
robot application
BTL 5 Evaluate

3.
w.E
i) Describe the capabilities of and limitations of lead through (6)
programming
ii) Describe the methods of defining positions in space (7)
BTL 2

BTL 2
Understand

Understand
4.

5.
example asy
Explain WAIT, DELAY, SIGNAL, and command with suitable (13)

Derive the forward and reverse kinematics with two degree of (13)
BTL 4

BTL 5
Analyze

Evaluate

6.
freedom.
En
Write the list of commands used in VAL programming and describe (13) BTL 1 Remember

7.
any two in detail.
gi nee
Classify the different types of programming methods and illustrate (13)
any one in detail.
BTL 3 Apply

8.
9.
Describe the teach pendant for Robot system
Classify various programming languages used in computer (13)
rin
(13) BTL 1
BTL 3
Remember
Apply

10.
controlled robots and illustrate any one in detail.
Derive the forward and reverse kinematics with four degree of (13)
freedom. g.n BTL 5 Evaluate

11.
12.
13.
Explain the function of inverse kinematics with example.
Derive the forward and reverse kinematics for RRR robot.
Derive the forward and reverse kinematics with three degree of (7)
(13)
(13) eBTL 4 Analyze
BTL 5 Evaluate
BTL 5 Evaluatet
freedom.
14. Explain manipulator kinematics with neat sketch. (13) BTL 4 Analyze
PART C
1. Write a VAL program for pick- and-place operation on the (15) BTL 6 Evaluate
conveyor system. it consists of two conveyors running parallel
with centre distance of 600 mm at same level. An industrial robot
is fixed centrally between the conveyors. The robot is used to
transfer work pieces from conveyor 1 to 2 at a constant speed.
Draw a schematic view of the system. Assume all necessary
dimension.
2. Derive the forward and reverse kinematics for RR robot. (15) BTL 5 Evaluate

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3. Derive the forward and reverse kinematics for RRL robot. (15) BTL 5 Evaluate
4. Derive the forward position kinematics with three degree of (15) BTL 5 Evaluate
freedom by using matrix form.

UNIT V IMPLEMENTATION AND ROBOT ECONOMICS

RGV, AGV; Implementation of Robots in Industries-Various Steps; Safety Considerations for Robot
Operations - Economic Analysis of Robots.
PART A
Q.No Question BT Competence
Level
1. What is AGV? BTL 1 Remember
2.
3. ww
Classify the four basic categories for industrial robot application?
What are the three basic modes of operation in a robot language BTL 3
operating system?
BTL 3 Apply
Apply

4.
5. w.E
Evaluate the robot economics by return of investment method. BTL 5
List out any two important factors in the selection of robot for an BTL 1
Evaluate
Remember

6.
7.
application
asy
How does RGV differs from AGV?
List out various methods used in economic analysis of robot.
BTL 4
BTL 1
Analyze
Remember
8.
9.
Give some applications of AGV.
En
Asses the typical technical features required for material transfer.
BTL 2
BTL 5
Understand
Evaluate

gi
10. Examine palletizing and depalletizing operation.

nee
11. Analyze the causes of human injury in a robotic environment.
12. Mention the limitations of implementing robots in industry.
BTL 2
BTL 4
BTL 3
Understand
Analyze
Apply
13. Write the reasons for the use of robots in welding operation. BTL 6 Create
14. What are the three levels of safety sensors used in a robot?
rin BTL 1 Remember
15. Write the functions of work cell controller.
16. Differentiate palletizing and depalletizing.
17. Define Payback period. g.n
BTL 6
BTL 2
BTL 1
Create
Understand
Remember
18. Give some important factors in the selection of robot for an application.
19. Pointout few safety precautions necessary for robotic application.
20. What do you mean by part presentation?
e
BTL 2
BTL 4
BTL 1
Understand
Analyze
Remember t
PART B
1. i) Explain the working of AGV with component based DCS. (7) BTL 4 Analyze
ii) Explain the logical sequence steps in the implementation of (6) BTL 4 Analyze
robots in industries.
2. i) Explain the economic analysis of the robot using EUAC (6) BTL 5 Evaluate
method.
ii) Explain safety sensors and safety monitoring of robot. (7) BTL 5 Evaluate
3. Explain with an example procedure of applying payback method (13) BTL 4 Analyze
in the economic analysis of robots.

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4. Write shorts on the following: BTL 6 Create

i) Method of payback period. (7)
ii) Return on investment method. (6)
5. Write shorts on the following: BTL 6 Create
i) Discounted cash flow method (7)
ii) Equivalent uniform annual cost method. (6)
6. Describe the workplace design consideration for safety of Robots (13) BTL 1 Remember
in detail.
7. Classify the AGV and RGV types of robots in detail. (13) BTL 3 Apply
8. Explain the obstacle detection an avoidance in AGV. (13) BTL 4 Analyze
9. Illustrate the various cost associated with robot project. (13) BTL 3 Apply
10. Explain various step involved for implementing robots in (13) BTL 4 Analyze

11. ww
industries
Discuss the implementation issues of robots in an assembly
environment.
(13) BTL 2 Understand

12.
of robots. w.E
Describe various factors to be considered for industrial application (13) BTL 2 Understand

13.

14.
project.
asy
List and explain indirect costs and savings in a robot application

What is meant by blocking in AGV? Explain the methods used in

(13) BTL 4

(13) BTL 5
Analyze

Evaluate
commercial AGV to accomplish blocking.
En PART C
1.
2. gi
Explain the safety consideration for robot operation in detail.

nee
(15) BTL 5 Evaluate
Suppose the total investment on the robot is estimated to be Rs. (15) BTL 6 Evaluate
50,000. There is one shift operation of 2000 hours and 1 man
replaced. Assuming labour rate inducing direct overheads to be Rs.
80/hour, robot running costs including maintenance and
rin
depreciation to be Rs. 1,00,000 and added value of increased
output be Rs. 1,20,000. Determine the payback period.
g.n
3.
65,000 including the price of tooling robot and accessories. The
estimate expense on annual maintenance robot operating and
programming is Rs. 5500 for one shift operation and Rs. 7500 for
e
The total investment required for a new robot installation is Rs. (15) BTL 6 Evaluate

t
two shift operation. The robot replaces one worker whose salary
and other benefits amount to be Rs.28,000 per annum.
4. The total investment on the robot is estimated to be Rs. 4,00,000. (15) BTL 6 Evaluate
There is 1 shift operation of 1800 hours and one 1 man replaced.
Assuming labour rate including direct overheads to be Rs. 75 per
hour, robot running costs including maintenance and depreciation
to be Rs. 75,000 and added value of increased output be Rs.
1,00,000. Determine the pay back period.

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