UNIT-1 BASICS OF ROBOTICS

UNIT I BASICS OF ROBOTICS

Introduction- Basic components of robot-Laws of robotics- Classification of robot-
work space-accuracy- resolution –repeatability of robot. Power transmission
system: Rotary to rotary motion, Rotary to linear motion, Harmonics drives – gear
system - belt drives.
Part A-Questions
1. Define Robot.
Robot is a programmable, multifunction manipulator designed to Move materials, parts, tools or
special devices through variable programmed motions for the performance of the variety of tasks.
2. Explain the types of rotary joint notations
 Rotational joint(typeR)
 Twisting joint(typeT)
 Revolving joint(typeV)
3. What is meant by Workspace?
The space in which the endpoint of the robot arm is capable of operating is called
as workspace in other words reach ability of robot arm is known as workspace.
4. What is meant by accuracy of robot?
The robot‘s ability to reach a reference point within the robot‘s full work volume is known as
accuracy of robot.
5. What are the benefits of industrial robots?
 Increased Productivity
 Significant Savings
 Improved Quality
 Better Safety
 Competitive Edge
6. What is repeatability of robot?
Repeatability refers to robot‘s ability to return to the programmed point when it is commanded
What is meant by pitch, yaw and roll?
Pitch is rotation around the X axis, yaw is a round the Y axis, and roll is around the
Z axis. Yaw is side to side swinging around an axis. Pitch is up and down movement
about an axis and roll is rotatory motion about an axis.
7. What is work volume?
The volume of the space swept by the robot arm is called work volume.
8. What is meant by quality of robot?
A Robot is said to be high quality when the precision and accuracy is more.
9. What is meant by robot anatomy?
Study of structure of robot is called robot anatomy. Manipulator is constructed of a
series of joints and links. A joint provides relative motion between the input link and the
output link.
10. What are the three degrees of freedom associated with the arm and body motion?
 Right(or)left movement(X-axis motion)
 In and out movement(Y-axis motion)
 Vertical movement (Z-axis motion)
11. Define an Industrial Robot.
An industrial robot is an automatically controlled, reprogrammable, multipurpose
manipulator programmable in three or more axes. A programmable mechanical device
that is used in place of a person to perform dangerous or repetitive tasks with a high
 degree of accuracy.

12. Define payload capacity of Robot?

The maximum load which can be carried by the manipulator at normal speed.
13. Define base and tool Coordinate system.
A tool coordinates definition system capable of easily obtaining a transformation
matrix for defining a tool coordinates system of a robot the tool coordinates system
at the 0° position of the robot is rotated around each axis so the tool coordinates
system become s parallel to a base coordinates system.

14. Name the important specifications of an industrial robot.

 Accuracy
 Repeatability
 Degree of Freedom
 Resolution
 Envelope
15. What are the four basic robot configurations available commercially?
 Cartesian coordinate system
 Cylindrical coordinate system
 Polar or spherical coordinate system
 Revolute coordinate system
16. Define the term work envelop?
The work envelop is described by the surface of the workspace.
17. List out the robot major components?
1. Robot arm
2. End of arm
3. Power source 4.Controller
5. Sensor 6.Actuator
7. Actuator
18. What is an end effectors? Give examples?
It is a device that is attached to the end of the wrist arm to perform specific task .e.g Tools,
Welding equipments, End of arm tooling
19. What is meant by workspace and work volume?
The space in which the endpoint of the robot arm is capable of operating (or) their each
Ability of robot arm is known as work space. The volume of the space swept by the robot arm is
called work volume.

Part-B
1. Briefly explain the different types of robots.
2. Sketch and explain the four basic robot configurations classified according to the coordinate system.
3. Write short notes on Joint Notation Scheme.
4. Write short notes on technical specification in Robotics.
5. Explain various parts of robots with neat sketch
6. Explain the main Robot anatomy with neat sketch.
7. Describe the types of joints used in robots.
8. Discuss the four types of robot controls
9. Briefly explain the needs of robots in industries.
10. Classify robots according to the coordinates of motion. With a sketch and an example, Explain the
features of each type.
 UNITII
ROBOT END EFFECTORS
UNIT II ROBOT END EFFECTORS
Robot End effectors: Introduction- types of End effectors- Mechanical gripper-
types of gripper mechanism- gripper force analysis- other types of gripper-
special purpose grippers.
Part-A Questions
1. What is actuator?
Device used for converting hydraulic, Pneumatic or electrical energy into mechanical Energy.
The mechanical energy is used to get the work done.

2. What are the factors which must be considered while choosing the drive system for robots?
a) Accuracy b)Repeatability
c)Degree of freedom d)Mobility
e)Coordinate systems f)Gravitational and acceleration force
g)Back lash, friction and ther mal effects h)Weight
i)Power-to-weight ratio j)Operating pressure

3. List the advantages and dis advantages of hydraulic drive?

4. Advantages:
1. Precision motion control over a wide range of speeds and loads
2. Robust
3. Greater Strength
Disadvantages:
1. Expensive
2. High maintenance
3. Not energy efficient
4. Noisy
5. Not suited for clean-air environment

4. List the advantages and disadvantages of pneumatic actuators?

Advantages:
1. Compact2.Controlissimple3.Itischeapestformofallactuators4.Individualcomponents
canbeeasilyinterconnected
Disadvantages:

1.More noise and vibration 2.Notsuitable for heavy loads 3.If mechanical stops are used
resetting the system can be slow

5. List the advantages and dis-advantages of Electrical actuator?

Advantages:
1. Highpowerconversionefficiency2.Nopollutionofworkingenvironment3.
They are
easilymaintainedandrepaired4.Lightweight5.ThedrivesystemiswellsuitedforelectroniccontrolDisadvanta
ges:
1.Poor dynamic response2.Conventionalgeardrivencreatebacklash 3.Alargerandheavier
Motor must be used which must be costly

6. What are the elements of the closed loop control system?

 1. Comparison element
2. Control element
Part-BQuestions
1. Explain Pneumatic actuator system with neat sketch.
2. Explain various types of Gripper mechanisms.
3. Write note on Gripper selection and design
4. Write a note on Magnetic Grippers.
5. Explain the various drive system used with an industrial robot and compare their features merits
and demerits.
6. Explain the working of a stepper motor.
7. (i)With a neat sketch, explain the working of a stepper motor.
(ii)Describe robot kinematics with suitable illustrations.
8.With a neat sketch explain the working of any two robot actuator.
9. Describe any two feedback devices used in robots.

UNIT- III
ROBOT MECHANICS
1
UNIT III ROBOT MECHANICS 0
Robot kinematics: Introduction- Matrix representation- rigid motion &
homogeneous transformation-forward & inverse kinematics- trajectory
planning. Robot Dynamics: Introduction - Manipulator dynamics – Lagrange -
Euler formulation- Newton - Euler formulation

Part-A Questions
1. What is robot kinematics?
Forward kinematics It is a system to determine joint angles of a robot by knowing its position in
the world coordinate system.

2. Reverse kinematics
It is a scheme to determine the position of the robot in the world coordinate
system by knowing the joint angles and the link parameters of the robot.

3. What is trajectory planning?

It is defined as planning of the desired movements of the manipulator.

4. Define degrees of freedom.

The number of independent ways by which a dynamic system can move without
violating any constraint imposed on it, is called degree of freedom .In other words, the
degree of freedom can be defined as the minimum number of independent
coordinates which can specify the position of the system completely.

5. Explain joint mode of teaching robots.

The teach pendant has toggle switches (or similar controlled devices) operate each
joints Into directions until the end effectors has been positioned to the desired point.

6. Explain the reasons for defining point sin program.

To define a working position for the end effecter avoid
 obstacles

7. What is a stepper motor?

It is a device which transforms electrical pulses in to equal increments of rotary shaft motion

8. What are the different types of stepper motor?

1. Permanent magnet stepper motor
2. Variable reluctance stepper motor
3. Hybrid stepper motor

9. What are the characteristics of servomotor?

1. Linear relationship. The speed and electric control signal
2. Steady state stability
3. Wide range of speed control
4. Linearityofmechanicalcharacteristicsthroughouttheentirespeedrange.
5. Lowmechanicalandelectricalinertia5.Fastresponse

Part-Questions
10. Explain Mechanical
drives system.
11. Explain Pneumatic actuators system with neat sketch.
12. Explain various types of Gripper mechanisms.
13. Write note on Gripper selection and design
14. Write a note on Magnetic Grippers.
15.Explainthevariousdrivesystemusedwithanindustrialrobotandcomparetheirfeatures,merit s and
demerits.
16. Explain the working of a stepper motor.
17. (i)With a neat sketch, explain the working of a stepper motor.
(ii)Describe robot kinematics with suitable illustrations.
18. With a neat sketch explain the working of any two robot actuator.
19. Describe any two feedback devices used in robots.
 Page 6 of 10

UNIT IV ROBOT PROGRAMMING

Robot programming: Robot Languages- Classification of robot language-Computer
control and robot software-Val system and Languages- application of robots.

Part-A Questions
1. What are the methods of robot programming?
2. What is teach pendant?
3. What is robot kinematics?
4. What is trajectory planning?
5. Define degrees of freedom.
6. Explain joint mode of teaching robots.
7. What is position representation?
8. Define servo controlled robots.
9. What is circular Interpolation?
10. What is manual lead through programming?
11. Differentiate between Forward kinematics and reverse kinematics?
12. Explain redundancy?

Part-A Questions with answers

1. Define a Robot.
RIA defines a robot as a ―programmable, multifunction manipulator designed to Move
materials, parts, tools or special devices through variable programmed motions for the
performance of the variety of tasks‖.
2. Explain the types of rotary joint notations
 Rotational joint (type R)
 Twisting joint (type T)
 Revolving joint (type V)
3. What is meant by Work space?
The space in which the end point of the robot arm is capable of operating is
called as workspace in other words reach ability of robot arm is known as
workspace.
4. What is meant by accuracy of robot?

The robot‘s ability to reach a reference point within the robot‘s full work volume is known as
accuracy of robot.
5. What are the benefits of industrial robots?
 Increased Productivity
 Significant Savings
 Improved Quality
 Better Safety
 Competitive Edge
6. What is repeatability of robot?
Repeatability refers to robot‘s ability to return to the programmed point when it is
 Page 7 of 10

commanded to do so.
7. What is meant by pitch, yaw and roll?
Pitch is rotation around the X axis, yaw is around the Y axis, and roll is around the
Z axis. Yaw is side to side swinging around an axis. Pitch is up and down movement
about an axis and roll is rotatory motion about an axis.
8. What is work volume?
The volume of the space swept by the robot arm is called work volume.
9. What is meant by quality of robot?
A Robot is said to be high quality when the precision and accuracy is more.
10. What is meant by robot anatomy?
Study of structure of robot is called robot anatomy. Manipulator is
constructed of a series of joints and links. A joint provides relative motion between
the input link and the output link.
11. What are the three degrees of freedom associated with the arm and body motion?
 Right (or) left movement (X-axis motion)
 In and out movement (Y-axis motion)
 Vertical movement (Z-axis motion)
12. Define an Industrial Robot.
An industrial robot is an automatically controlled, reprogrammable,
multipurpose manipulator programmable in three or more axes. A programmable
mechanical device that is used in place of a person to perform dangerous or
repetitive tasks with a high degree of accuracy.
13. Define payload capacity of Robot?
The maximum load which can be carried by the manipulator at low or normal speed.
14. Define base and tool Coordinate system.
A tool coordinates definition system capable of easily obtaining a
transformation matrix for defining a tool coordinates system of a robot. The
tool coordinates system at the 0° position of the robot is rotated around
each axis so that the tool coordinates system becomes parallel to a base
coordinates system.

15. Name the important specifications of an industrial robot.

 Accuracy
 Repeatability
 Degree of Freedom
 Resolution
 Envelope
16. What are the four basic robot configurations available commercially?
 Cartesian coordinate system
 Cylindrical coordinate system
 Polar or spherical coordinate system
 Revolute coordinate system
17. Define the term work envelop?
The work envelop is described by the surface of the work space.
18. List out the robot major components?
1. Robot arm
2. End of arm
3. Power source 4. Controller
5. Sensor 6. Actuator
7. Actuator
19. What is an end effector? Give examples?
It is a device that is attached to the end of the wrist arm to perform specific task. e.g
 Page 8 of 10

Tools, Welding equipments , End of arm tooling

20. What is meant by work space and work volume?

The space in which the end point of the robot arm is capable of operating (or) the
reach Ability of robot arm is known as workspace. The volume of the space swept by the robot
arm is called work volume.

Part-B
1. Briefly explain the different types of robots.
2. Explain the four basic robot configurations classified according to the coordinate system.
3. Write short notes on Joint Notation Scheme.
4. Write short notes on technical specification in Robotics.
5. Explain various parts of robots with neat sketch
6. Explain the main Robot anatomy with neat sketch.
7. Describe the types of joints used in robots.
8. Discuss the four types of robot controls
9. Briefly explain the needs of robots in industries.
10. Classify robots according to the coordinates of motion. With a sketch and an example,
11. List the commands used in VAL programming and describe its functions.
12. Explain the teach pendant for Robot system
13. Write down the capabilities and limitations of Lead through methods
14. Briefly explain the Robot Programming and usages in detail.

UNIT- V MACHINE VISION FUNDAMENTALS

UNIT V MACHINE VISION FUNDAMENTALS

Machine vision: image acquisition, digital images-sampling and quantization-levels
of computation Feature extraction-windowing technique- segmentation-
Thresholding- edge detection- binary morphology - grey morphology

Part A-Questions
1. What is the common imaging device used for robot vision systems?
Black and white video con camera, charge coupled devices, solid-state camera,
charge injection devices.
2. What is segmentation?
Segmentation is the method to group is as of an image having similar characteristics or features
into distinct entities representing part of the image.

3. What is Thresholding?
Thresholding a binary conversion technique in which each pixel is converted into a binary value
 Page 9 of 10

either black or white.

4. What are the functions of machine vision system Sensing
and digitizing image data
Image Processing and analysis Application
5. Define sensors and transducer.
Sensor is a transducer that is used to make measurement of a physical variable of interest.
Transducer is a device that converts the one form of information in to another
form without changing the information content.
6. What are the basic classifications of sensors? Tactile
Sensors,
Proximity Sensors,
Range sensors,
Voice sensors etc.,
7. What is a tactile sensor?
Tactile sensor is device that indicates the contact between themselves and some
other solid objects.
8. What is meant by Region growing?
Region growing is a collection of segmentation techniques in which pixels are
grouped in regions called grid elements based on attribute similarities.
9. What is meant by Feature Extraction?
In vision applications distinguishing one object from another is accomplished by means of features
that uniquely characterize the object. A feature (area, diameter and perimeter) is a single
parameter that permits as of comparison and identification.
10. What are the various techniques in image processing and analysis? Image
data reduction
Segmentation
Featureextraction Object
recognition
11. Give an application example of a proximity sensor.
Ground proximity warning system for aviation safety Vibration
measurements of rotating shafts in machinery Sheet break sensing in
paper machine.
Roller coasters Conveyor
systems
12. Brief on the working of inductive type proximity sensor.
Inductive proximity sensors operate under the electrical principle of inductance. Inductance is the
phenomenon where fluctuating current, which by definition has a magnetic component induces an
electro motive force (emf) is a target object. To amplify a devices inductance effect, a sensor
manufacturer twists wire into a tight coil and runs a current through it.
13. Name some feedback devices used in robotics. Position
Sensors
Velocity Sensors
14. What are the types of encoders?
Incremental encoders Absolute
encoders
15. What is frame grabber?
It is a hardware device used to capture and store the digital image.

16. Classify the position sensors.

Incremental encoders Absolute
encoders Resistive position sensors
 Page 10 of 10

Linear variable differential transformer. Encoders

Potentiometer Resolver.
17. What is a tactile array sensor?
Tactile array sensor is a special type off senor composed of a matrix sensing elements.
18. What is meant by feature extraction and pattern recognition?
In vision applications distinguishing one object from another is accomplished by means of
future that uniquely characterizes the object. A feature (area, diameter, perimeter) is a single
parameter that permits ease of comparison and identification. Pattern recognition means classifying
an image (region )in to one of a number of known classes.
19. What is meant by an object recognition?
The next step in image data processing is to identify the object the image represents. This
identification is accomplished using the extracted feature information described. The recognition
algorithm must be power ful enough to uniquely identify the object.

Part-BQuestions
1. Briefly explain the characteristics of Sensors.
2. Briefly explain the working principle of position sensors with neat sketch.
3. Briefly explain the working principle of Range sensors with neat sketch.
4. Briefly explain the working principle of Proximity sensors with neat sketch.
5. Explain the Machine vision systems of Robot.
6. Explain the various techniques in Image Processing and Analysis.
7. With suitable applications brief explain the following:
(i))Optical encoders(ii) Laser range meters (iii)Capacitive type touch sensors
(iv)Ultrasonic proximity sensors
8. Compare various lighting techniques used in mission vision and image processing analysis.
9. What are robot end effectors? How do you classify them.
10. Describe robot end effectors interface with example.
11. Briefly explain the economic analysis of Robots in detail.
12. Briefly explain the safety sensors and safety monitoring of robots in detail.
13. Briefly explain the workplace design consideration for safety of robots in detail.
14. Briefly explain the various steps involved for implementing the robot in industries.
15. Write a critical note on any two methods for economic analysis of industrial robots.
16. List and explain indirect cost and savings in robot application project.
17. Explain the logical sequence of steps in implementing robotics.
18.Briefly explain the work place design consideration for safety of robots in detail