ME 1008 ROBOTICSUNIT I FUNDAMENTALS OF ROBOT

PART-A

1. Define Robotics.

2. Define a robot.

3. What are the components of a robotic system?

4. What is the function of Manipulator?

5. What are the six Degrees of freedom for a robot arm?

6. What is the function of Gripper?

7. What are the different types of lower pair connectors?

8. What are the different types of coordinate system?

9. What do you mean by work envelope?

10. Define pitch of a robot.

11. Define a) Yaw b) Roll

12. What are end effectors?

13. What are the different types of gripping methods?

14. What are the different methods of specifying robot movement?

15. What are the manufacturing applications of robots?

16. What are the non-manufacturing applications of robots?

17. What is SCARA?

18. What is Gantry robot?

19. What are advantages of Jointed arm robot?.

20. What are the different types of work envelope?

21. How will you classify robot according to sensory system?

22. Define payload for a robot.

23. Classify robot based on type of control.

24. Give the typical specifications for a robot.

25. Define compliance of a robot.

PART-B1. With neat sketches discuss the different types of Coordinate systems used for Robotic environment.

2. With neat sketches discuss the different types of Work envelopes used for Robotic environment.

3. Explain in detail the various non-manufacturing applications of robots.

4. What are the controlling methods for a robot? Explain with neat sketches.

5. Explain in detail the manufacturing applications of robots.

6. Write note on a) need for a robot b) Speed of motion

7. Briefly explain the functions of different parts of a robot.

8. Explain the classification of robots.

9. How will you specify a robot? Explain with example.

10. Briefly explain a) Robot anatomy b) Robot wrist motions.

UNIT IIROBOT DRIVE SYSTEMS AND END EFFECTORS

PART-A

1. Mention the different types of drive systems.

2. What are the factors considered in the selection of drive system?

3. What are actuators? Give their types.

4. What is the working principle of vacuum gripper?

5. Differentiate Internal and External grippers.

6. What are the uses of Ladles and scoops?

7. Distinguish between active and passive grippers?

8. What is the working principle of Adhesive gripper?

9. What are the advantages of pneumatic drive system?

10. What are the different servo control modes?

11. Define a) Accuracy b) Stability

12. What are the advantages of stepper motor in robotic system?

13. How will you classify end effectors based on grasping modality?

14. How will you calculate gripping force for a two fingered mechanical gripper?

15. What are the two different methods of constraining a part in the gripper?

16.A 5 kg rectangular block is gripped in the middle and lifted vertically at a velocity 1 m/s.If it accelerates to this velocity at 27.5 m/s2 and the coefficient of friction between the gripping pads and the block is 0.48, calculate the minimum force that would prevent slippage.

17. Compare the usage of electrical motors.

18. Distinguish between open loop and closed loop system.

19. What are the factors to be considered in the design of a robot?

20. What are the advantages of PID drives with tachometric compensation?

21. What are proportional and derivative controls?

22. What is g factor in robotics?

23. What are the mechanical drive elements used in robotics?

24. What are the advantages of electrical drive systems over others?

25. What are the limitations of hydraulic drive systems?

PART-B

1. Explain with neat sketches the working of Magnetic &vacuum grippers.

2. Explain with neat sketches two fingered and three fingered grippers.

3. What are end effectors? Explain various types of mechanical grippers with suitable sketches.

4. Explain the uses of mechanical drive elements in robotic drive systems.

5. Write note on i) Adhesive grippers and other miscellaneous types ii) Speed of motion and torque for drive systems.

6. Briefly explain the salient features, applications, advantages and limitations of hydraulic drive system for robots.

7. Briefly explain the salient features, applications, advantages and limitations of pneumatic drive system for robots.

8. Explain the working of stepper motor with suitable diagrams. Give its applications.

9. Explain the salient features, applications, advantages and limitations of AC&DC servo motors for robotic applications.

10. Explain the selection criteria and factors considered in the design of robot.