Savitribai Phule Pune University
Department of Mechanical Engineering
Unit 3 : Robot Drive Systems - Theory Question Bank
Subject: Automation and Robotics [402051C]
Sr.
No.
Question Statement
Class: BE
CO
BL
Marks
1
Explain and illustrate Pneumatic/Hydraulic Drives and its
components used in Robotics.
3
2, 4
08
2
Compare salient features, applications and limitations of
Pneumatic and Hydraulic Drives.
3
4
09
3
What are the factors which must be considered while
choosing the drive system for robots?
3
2, 4
08
4
Explain in brief:
a) DC Servomotors
b) Stepper motors
c) AC servo motors
d) Brushless DC motors (BLDC)
3
2
08
5
Compare salient features, applications and limitations of
Mechanical and Electrical Drives.
3
4
09
6
Explain and illustrate at least four types of motion
convention?
3
2
08
7
Compare and illustrate salient features, applications and
limitations of Planetary, Harmonic and Cycloidal Gearbox.
3
4
09
8
Explain the various drive system used in an industrial robot
with their selection criteria and compare their features,
merits and demerits.
3
3
08
9
Why servomotors are preferred as compared with stepper
motor in robot applications?
3
3
06
10
What is an actuator? Explain and illustrate Micro actuators
and their selection.
3
3
06
Savitribai Phule Pune University
Department of Mechanical Engineering
Unit 4 : End-effectors & Sensors in Automation - Theory Question Bank
Subject: Automation and Robotics [402051C]
Sr.
No.
Question Statement
Class: BE
CO
BL
Marks
1
What are the End-effectors? Explain their Types, Classification,
Significance and Applications used in Robotics.
4
2, 4
09
2
What are the Grippers? Explain their Types, Classification,
Significance and Applications used in Robotics.
4
4
09
3
What are the Toolings? Explain their Types, Classification,
Significance and Applications used in Robotics.
4
2, 4
09
4
Describe the Construction, Working, Selection and Design
Considerations of End-effectors/Grippers/Toolings Interface
used in various Robotic Applications?
4
2
08
5
What is Compliance used in Robotics? What is the significance
of Compliance?
4
2, 4
06
6
Explain and compare Active and Passive Compliance. Also
explain remote control compliance (RCC) device for assembly
operations.
4
2
09
7
What are the Sensors/Transducers? Explain their Types,
Classification, Significance and Applications in Robotic
applications?
4
4
09
8
Describe the Construction, Working, Selection and Design
Considerations of Sensors/Transducers used in various Robotic
Applications?
4
3
08
9
Describe the Construction, Working, Selection and Design
Considerations of Resolvers/ Encoders/ Switches used in various
Robotic Applications?
4
3
08
10
Describe the Construction, Working, Selection and Design
Considerations of Position/ Touch / Torque/ Force/ Range/
Safety/ Machine Vision Sensors and Transduces used in various
Robotic Applications?
4
3
08
Savitribai Phule Pune University
Department of Mechanical Engineering
Unit 5 : Mathematical Modeling of Serial and Parallel Robots - Theory Question Bank
Subject: Automation and Robotics [402051C]
Sr.
No.
Question Statement
Class: BE
CO
BL
Marks
1
Explain DH Parameters with one example of basic robot.
5
2,4
08
2
Compare, explain and illustrate Direct and Inverse
Kinematics applicable to Robotics along with its
applications.
5
4
09
3
Establish the mathematical expressions of forward
transformation of a spatial 2 degree of freedom arm with two
joints (RR/RP/PR/PP).
5
2,4
08
4
Define joint coordinates of a robot.
5
2
06
5
Write a short note on Jacobian Transformation with one
example.
5
4
06
6
Compare, explain and illustrate Direct and Inverse Dynamics
applicable to Robotics along with its applications.
5
2
09
7
Establish the mathematical expressions of direct dynamics of
two joints/link manipulator with two joints (RR/RP/PR/PP)
using Lagrangian Approach.
5
4
09
8
Explain and illustrate Lagrangian and Eulerian approach for
formulation of equations of motion of planar two link/joint
manipulator applicable to Robotics.
5
3
08
9
Explain and illustrate Newtonian and Eularian approach for
formulation of equations of motion of planar two link/joint
manipulator applicable to Robotics.
5
3
08
10
Compare and illustrate Lagrangian-Eulerian and NewtonianEularian Approaches for formulation of equations of motion
of planar two link/joint manipulator applicable to Robotics.
5
3
06
Savitribai Phule Pune University
Department of Mechanical Engineering
Unit 6 : Performance and Applications of Robots - Theory Question Bank
Subject: Automation and Robotics [402051C]
Sr.
No.
Class: BE
Question Statement
CO
BL
Marks
1
What are the design considerations for functional safety in
robotic applications?
6
2, 4
08
2
List out and explain the considerations in Robot Cell Design
and selection.
6
2, 4
09
3
Write a note on “Robot Performance and Economics.”
6
2, 4
08
4
What are the uses of Robots in Manufacturing Applications?
6
2, 3
09
5
Explain Motion
Programming.
Off-line
6
2, 4
08
6
What are the different Types of Robot Programming? Explain
and
illustrate
in
details
for
applications
like
Palletizing/Loading/Unloading/Material Handling, etc.
6
2, 3
09
7
Write a note on
a) Humanoid Robots
b) Robotic Assistive Technologies for Rehabilitation of
Humans
6
3
08
8
Explain and illustrate the following terms related to Mobile
Robots:
a) Wheeled robots
b) Legged robots
c) Tracked robots
d) Hybrid Terrestrial Mobile robots.
6
3
08
9
Write short note with illustrates examples on Field and Service
Robot.
6
2
08
10
Explain the concept of Unmanned Aerial Vehicle (UAV) and
Autonomous Underwater Vehicles (AUV).
6
3
06
Programming, Simulation and