VALLIAMMAI ENGINERING COLLEGE
DEPARTMENT OF MECHANICAL ENGINEERING
SUBJECT CODE / NAME: ME6010 / ROBOTICS
YEAR/SEM: IV /VII
UNIT 1: FUNDAMENTALS OF ROBOT
PART A
1. Name the commonly used robot configurations.
2. Describe the RIA Definition of Robot.
3. What is meant by work volume?
4. Describe work envelope.
5. Explain robot anatomy.
6. List out the types of joint notations
7. What is meant by Pitch?
8. Define base and tool coordinate system
9. Classify the robot as per the type of control and mobility.
10. List the applications of robot in manufacturing area?
11. Explain about pay load.
12. Write any two laws of robotics
13. Explain SCARA
14. Describe the term spatial resolution in robotics.
15. Classify the methods for controlling a mechanical manipulator in the joint variable space.
16. Describe Yaw.
17. Define Roll.
18. Classify the motion control of robot arm?
19. Explain work space.
20. Generalize the application of the robots.
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PART B
1. (i) Describe the robotics wrist and indicate wrist pitch, wrist yaw and wrist roll. (8)
(ii) Explain robot parts and their functions with neat sketch (8)
2. Briefly explain the different types of robots. (16)
3. (i) Discuss about the Joint Notation Scheme in robot.
(8)
(ii) Discuss about the technical specification in Robotics. (8)
4. Explain with a neat sketch of Selective Compliance Assembly Robot Arm (16)
5. Illustrate the Industrial Applications of Robots. (16)
6. Explain the four common Robot configurations with neat sketch and narrate individual
merits and demerits and applications (16)
7. Describe the various control systems of Robot With the circuit diagram (16)
8. How will you specify a robot? Explain in detail (16)
9. Explain the following (i) Robot anatomy (ii) Robot wrist.
(8+8)
10. (i) Illustrate about the need of a Robot?
(8)
(ii) Discuss how the robots are applied in inspection work (8)
11. Prepare the selection criteria and factors in the design of a robot. (16)
12. Describe the following
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(i) Types of robot controls (8)
(ii) Spatial resolution (4)
(iii) Repeatability (4)
13. Illustrate with neat sketch about the basic robot motions.(16)
14. Formulate the factors to be consider for the selection of robot? Explain in detail.(16)
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UNIT-II: ROBOT DRIVE SYSTEMS AND END EFFECTORS
PART A
1. When will hydraulic drive be preferred in robots?
2. What is meant by a Gripper and what are the types of the gripper?
3. Classify mechanical grippers
4. List the limitation of stepper motor as a drive system for a robot.
5. What are the problems associated with the magnetic grippers
6. In what way end effectors differ from human hand
7. Define End effectors.
8. Give some examples of Robot End effectors.
9. Differentiate internal and external grippers
10. Classify the types of hydraulic actuators?
11. What are actuators?
12. Illustrate the advantages and limitations of a hydraulic drive?
13. Give examples of tools used as Robot End effectors?
14. List the factors to be considered while designing grippers?
15. What is stripping device?
16. Describe the principle used in Vacuum Cup.
17. List the types of drive systems used in robotics.
18. Compare pneumatic and hydraulic grippers
19. Define servo motor and its application
20. Compare stepper and servo motor
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PART B
1. Explain Electric Actuators system with neat sketch. (16)
2. Explain Mechanical drives system with neat sketch. (16)
3. (i) Illustrate Pneumatic actuators system with neat sketch. (8)
(ii) Illustrate hydraulic actuators system with neat sketch (8)
4. Show the different types of end effectors with neat sketch. (16)
5. Describe the various types of Gripper mechanisms with sketch. (16)
6. Explain power and signal transmission of robot actuators system. (16)
7. (i) Write note on Gripper selection and design. (8)
(ii) Describe the Magnetic Grippers in robot. (8)
8. Discuss various consideration for selection of grippers in robots (16)
9. Illustrate the working of a Stepper motor with suitable diagrams (16)
10. Summarize Vacuum cups, Adhesive grippers, Hooks, Scoops and other miscellaneous
grippers in detail (16)
11. Discuss the salient features, capabilities, application merits and limitations of non servo and
servo controlled Robots. (16)
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12. (i)Explain the various drive system used with industrial robot (8)
(ii)Compare the features of the various drive systems for an Industrial robot (8).
13. (i) List the feature of hydraulic actuators(8)
(ii) Explain vacuum grippers, with reference to the principle use and the application (8)
14. Explain with neat sketch abut following
(i) AC servo motors (8)
(ii) DC servo motors (8)
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UNIT-III: SENSORS AND MACHINE VISION
PART A
1. Describe edge detection in image analysis?
2. What is the function of the sensors?
3. Describe thresholding and how it is accomplished
4. Give an example for touch sensor in the context of robot
5. Differentiate between transducer and sensor
6. How does charge coupled device differ from charge induction device
7. What do you mean by internal state sensor?
8. Define frame grabber.
9. Define segmentation.
10. Define Transducer.
11. What is a tactile sensor? List the types of Tactile Sensors?
12. Illustrate the function of Piezoelectric sensors
13. Explain Gray scale.
14. Explain Region growing.
15. Classify the basic types of sensors.
16. Describe the desirable features of a sensor.
17. What is meant by feature extraction?
18. How will be sensors evaluated?
19. Describe windowing.
20. Define image data reduction.
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PART B
1. (i)What do you mean by robot vision? Explain (8)
(ii)Explain and compare various lighting techniques used in machine vision(8)
2. With suitable sketch citing appropriate application explain the following
a. LVDT (8)
b. Binary touch sensor (4)
c. Slip sensor (4)
3. What is tactile sensor? Explain any four types with its practical application.(16)
4. How are the images processed and analyzed in a machine vision system? Explain with
suitable example (16)
5. (i) Explain the following in the context of robot vision (1) digital convolution (2) mono and
stereo vision (8)
(ii)Explain how image segmentation helps to improve quality of images in vision system(8)
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6. (i) Briefly explain the characteristics of Sensors. (8)
(ii)Explain the applications of robotic vision systems (8)
7. Describe the working principle of position sensors with neat sketch. (16)
8. Describe the working principle of Range sensors with neat sketch. (16)
9. Describe the working principle of Proximity sensors with neat sketch. (16)
10. Explain the Machine vision systems of Robot. (16)
11. Explain the various techniques in Image Processing and Analysis. (16)
12. Prepare the factors to be considered for selection of sensors and write down the
classifications of sensors. (16)
13.Classify the various types of Vision Cameras with neat sketches.(16)
14. Write notes on (a) Thresholding (b) Edge detection (c) Object recognition (d) Smoothing
(4+4+4+4)
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UNIT IV: ROBOT KINEMATICS AND ROBOT PROGRAMMING
PART A
1. Explain briefly why kinematic study of the robot is important
2. List any four motion command in VAL language
3. List out four methods of entering commands into the robot control memory
4. How can u define a manipulator?
5. List any two application of straight line interpolation in robotics
6. What do you mean by interlock in robotics?
7. State the reason for homogeneous transformation
8. Classify the methods of Robot programming
9. Explain teach pendant.
10. Explain forward kinematics.
11. Explain Reverse Kinematics.
12. Define Degrees of freedom.
13. Explain position representation.
14. Define manual lead through programming.
15. Classify the Robot programming languages.
16. Discuss about powered lead through programming.
17. Generalize some commands used for end effectors.
18. Generalize some motion commands in VAL II.
19. Describe about circular Interpolation.
20. Illustrate irregular smooth motions.
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PART B
1. (i)Write about sensors and end effectors commands (8)
(ii)Differentiate forward and reverse transformation with example (8)
2. (i) Write elaborate note on motion commands of robots (8)
(ii)Explain detail manual lead through programming method in robot application (8)
3. (i) Explain denavit-hartenberg parameters with suitable example and sketch(8)
(ii)Explain WAIT, DELAY, SIGNAL, and command with suitable example. (8)
4. Classify various programming languages used computer controlled robots (16)
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5. Explain the function of an inverse kinematics algorithm (16)
6. Write the list of commands used in VAL programming and describe the function.(16)
7. Derive the forward and reverse transformation of 2-Degree of freedom arm. (16)
8. Derive the forward and backward transmission for a robot with 3- degree of freedom arm. 16)
9. Explain Manipulator kinematics with neat sketch. (16)
10. Classify the different types of programming methods in detail. (16)
11. Explain Motion, End effectors and Sensor commands with example. (16)
12. Write a palletizing program to pick the parts from input chute and place them on a pallet
with 24 positions. (16)
13. (i) Describe the capabilities of and limitations of lead through programming.(8)
(ii) Describe the methods of defining positions in space. (8)
14. Describe the teach pendant for Robot system (16)
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UNIT V – IMPLEMENTATION AND ROBOT ECONOMICS
PART A
1. Classify the four basic categories for industrial robot application?
2. What is AGV?
3. List out any two important factors in the selection of robot for an application
4. Generalize the reasons for use of robots in welding operation.
5. What are the three basic modes of operation in a robot language operating system?
6. Hoe does RGV differs from AGV
7. Write short notes on RGV
8. List out various methods used in economic analysis of robot
9. Generalize the functions of work cell controller.
10. What are the three levels of safety sensors used in a robot?
11. What is Palletizing and Depalletizing operation?
12. Describe the different types of material handling operation.
13. What is a Pallet?
14. Explain APAS.
15. Explain Bowl feeders.
16. Explain about ROI method.
17. Evaluate EUAC Method.
18. Define Payback period.
19. Explain about dead man switch.
20. Define: Part presentation.
PART B
1. (i) Explain the working of AGV with component based DCS(8)
(ii) Explain the logical sequence steps in the implementation of robots in industries (8)
2. (i) Explain the economic analysis of the robot using EUAC method(8)
(ii) Explain in detail safety sensors and safety monitoring of robots.(8)
3. (i) explain with an example procedure of applying payback method in the economic
analysis of robots(8)
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(ii) What is mean by blocking in AGV? Explain the methods used in commercial AGV to
accomplish blocking (8)
4. Explain various step involved for implementing robots in industries (16)
5. Classify the AGV and RGV types of robots in detail. (16)
6. List and explain direct and indirect cast involved in a robot application project (16)
7. Write short notes on the safety consideration for robot operation (16)
8. Write shorts on the following (i) method of payback period (8)
(ii) Return on investment method (8)
9.Write shorts on the following (i) discounted cash flow method (8)
(ii) Equivalent uniform annual cost method (8)
10. Describe the factors to be considered for industrial application of robots(16)
11. Describe the Workplace design consideration for safety of Robots in detail (16)
12.Illustrate the various cost associated with robot project (16)
13. Suppose the total investment on the robot is estimated to be Rs.500, 00. There is one shift
operation of 2000 hours and 1 man replaced. Assuming labor rate inducing direct overheads to
be Rs80/hour, robot running costs including maintenance and depreciation to be Rs100000 and
added value of increased output be Rs.120000 determine the payback period. (16).
14. Describe in detail about control and safe guarding personal in robot .(16)
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