Question Bank

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 task.
2. What is mean by automation?
Automation is a technology that is concerned with the use of electronic mechanical and
computer based system in the operation control and production.
3. What is a robot?
Robot is an
Electro-mechanical device
Perform various task
May be human controlled or automated.
It finds its uses in all aspects of our life
4. What are the rules of robot?
Do not harm being
Obey human being
Protects itself from harm.
5. Why a robot used?
a. To reduce production cost
Fast
Accurate
Difficulties in human nature b. To avoid 3-D jobs
Dirty
Dangerous
Difficult
6. What is meant by robot anatomy?
Robot anatomy means study of structure of robot. Manipulator is constructed of a series of
joints & links. A joint provides relative motion between the input link and the output link.
Each joint provides the robot with one degree of freedom.
7. Name the commonly used robot configuration system
The commonly used robot configuration systems are
Cartesian coordinate system
Cylindrical coordinate system
Polar or spherical coordinate system
Revolute coordinate system
8. What are the types of automation?
Fixed automation
Programmable automation
Flexible automation
9. Write are the Benefits of industrial automation?
Improved product quality
Improved safety
 Increased manufacturing flexibility
Improved operation reliability
Improved decision making
10. List the different types of robots?
Robotic Manipulator
Wheeled Mobile Robots
Legged Robots
Underwater Robots
Flying Robots
Robot Vision
Artificial Intelligence
Industrial Automation
11. Write Asimovs laws of robotics?
Three rules written by science fiction author Isaac Asimov and later expanded upon. These
rules are built in to almost all positronic robots appearing in his fiction and cannot be
bypassed. The rules are introduced in his 1942 short story Runaround although they were
foreshadowed in a few earlier stories. The Three Laws of Robotics are as follows:
I. A robot may not injure a human being or, through inaction, allow a human being to come to
harm.
II. A robot must obey any orders given to it by human beings, except where such orders would
conflict with the First Law.
III. A robot must protect its own existence as long as such protection does not conflict with the
First or Second Law.
12. What is mean by workspace?
The space in which the end point of the robot arm is capable of operating is called as a
workspace in other words reachabillity of robot arm is known as workspace
13. What is mean by work volume?
The volume of the space swept by the robot arm is called work volume
14. What is meant by work envelop?
The work envelop is described by the surface of the workspace.
15. What is meant by a accuracy of robot?
The robots ability to reach a reference point within the robots full work volume is known
as accuracy of robot.
16. What is meant by pay load capacity of robot?
The maximum load which can be carried by the manipulator at low or normal speed
17. What is meant by precision of robot?
It is the smallest increment of motion for which the robot can be controlled
18. What is repeatability of robot?
Repeatability refers to robots ability to return to the programmed point when it is commanded
to do so.
19. What is meant by quality of robot?
A robot is said to be high quality when the precision and accuracy is more
20. Classify the motion control of Robot arm?
Limited sequence control
 Point to point control
Continuous path control
Intelligent control
21. What are the Subsystems of industrial robot?
Actuators
Transmission systems
Power supplies & power storage system
Sensors
Microprocessors & controllers
Algorithms & softwares (higher level & lower level)
22. What is meant Degrees Of Freedom?
It is described as one of the variables required to define the motion of a body in space. Each
joint in a robotic system gives the robot one degree of freedom.
23. How much encoder need for measure 45 degree of freedom?
45 encoders
24. What are the Advantages and disadvantages of robot?
Advantages
Greater flexibility, reprogrammability, adjustable kinematics dexterity
Greater response time to inputs than humans
Improved product quality
Maximize capital intensive equipment in multiple work shifts.

Disadvantages
Replacement of human labour
More unemployment
Significant retraining costs for both unemployed and users of new technology
Advertising technology does not always disclose some of the hidden disadvantages
25. What are the limitations of robot?
Assembly dexterity does not match that of human beings, particularly where eye- hand
coordination required.
Payload to robot weight ratio is poor, often less than 5%
Robot structural configurations often constrain joint limits and thus the work volume
Work volume can be constrained even further when parts of substantial size are picked up
when tooling/sensors added to the robot
The robot repeatability and/or accuracy can constrain the range of potential application
26. Name the important parts of harmonic drive?
The important parts of harmonic drive are
Rigid circular spline with internal teeth
Flex spline with external teeth
Elliptical wave generation
27. State the advantages and limitation of a hydraulic drive?
Advantages:
It gives greater speed and strength
It gives highest power to weight ratio
 It is used for heavy pay loads
It can be used for large working envelope
It is safe and reliable to work in wet and dirty conditions
It can be used in hazardous environment.

Disadvantages
It occupies more space
Maintenance should be done regularly
28. What are the types of hydraulic actuator?
The types of hydraulic actuators are
Linear hydraulic actuator
I. Single acting cylinder
II. Double acting cylinder
III. Double acting double rod cylinder
Hydraulic rotary actuator
I. Gear motor II. Vane motor III. Piston motor
29. What are the types of encoder?
I. Linear encoder
II. Rotary encoder
Absolute encoder
Incremental encoder
30. What is frame grabber?
It is hardware device used to capture and store the digital image.
31. What is the common imaging device used for robot vision system?
Block and White vidicon camera, charge coupled devices, solid state camera, charge injection
device.
32. What is pixel?
Picture elements are also known as pixels.
33. What is the frame of the vision data?
The digital image of the camera is called frame of the vision data
34. What is segmentation?
Segmentation is the method to group area of an image having similar characteristics or
features into distinct entities representing part of the image.
35. What is thresholding?
Thresholding is a binary conversion technique in which each pixel is converted into a binary
value either black or white.
36. What is region growing?
Region growing is collection of segmentation techniques in which pixels are grouped in
regions called grid elements based on attribute similarities.
37. What are the functions of machine vision system?
Sensing and digitizing image data
Image processing and analysis
Application
38. What is application of machine vision system?
 Inspection
Identification
Visual servoing and navigation
39. What is sensor?
A sensor is an electrical device that transfers a physical phenomenon into an electrical signal.
Sensors in robotics are used for both the internal feedback control and external interaction
with the outside environment
40. What is transducer?
Transducer is a device which converts the one form of the energy into another form without
changing the information content.
41. What are the basic classifications of sensors?
Tactile sensors
Proximity sensors
Range sensors
Voice sensors etc
42. What are the desirable features of sensors?
1. Good Accuracy, 2. High Precision, 3. Wide operating range, 4. Instant speed of response,
5. Good Repealibility, 6. Low cost, and easy in operation
43. What is the tactile sensor?
Tactile sensor is a device which indicates the contact between themselves and some other
solid objects.
44. List the different type of tactile sensor?
Digital (Touch) sensor
Analogue (force) sensor
45. What is touch sensor?
Sensor which senses the presence or absence of the object by having physical contact between
the object
46. List the component of the force wrist?
Metallic frame
Bracket for tool mounting
Strain gauges

47. What is a tactile array sensor?

Tactile array sensor is a special type of force sensor composed of a matrix of force sensing
elements.
48. What is the proximity sensor?
Sensor which senses the presence or absence of the object without having physical contact
between the object
49. What are the classifications of a proximity sensor?
Inductive sensor
Capacitive sensor
Ultrasonic sensor
Magnetic sensor
50. What is a range sensor?
 Sensor which sense the range of the object
51. What is a voice sensor?
It is advanced sensor system used to communicate commands or information orally to robot.
52. What is a vision sensor?
It is an advanced sensor system used in conjunction with pattern reorganization and other
technique to view and interpret event occurring in the robot work space.
53. What is potentiometer?
Potentiometer is an electrical meter to measure the unknown voltage.
54. What is inspection?
It is quality control operation in which the checking of part assembly or products for
conformance to certain criteria is specifying by the design engineering department.
55. What is meant by quantisation?
Each sampled discrete time voltage level is assigned to a finite no of amplitude levels. These
amplitude levels correspond to gray scale used in the system. The predefined amplitude levels
are characteristic to a particular A to D converter and consist of discrete values of voltage
levels is defined by
Number of quantisation levels = 2 power n
Where n is the no of bits of the A/D converter
56. What is meant by encoding?
Encoding is defined as the representation of an amplitude level by a binary digit sequence.
57. What is meant by sampling?
The given analog signal is sampled periodically to obtain a series of discrete signals.
58. What are the basic lighting devices?
Diffuse surface device
Condenser projectors
Flood or spot projectors
Collimator
Imagers
59. What are the phases of A/D conversion?
Sampling
Quantization
Encoding
60. What are the various techniques in image processing & analysis?
Image data reduction
Segmentation
Feature extraction
Object recognition
61. What is meant by image data reduction?
The objective of image data reduction is to reduce the volume of the data
62. What are the schemes involved in image data reduction?
Digital conversion
Windowing
63. What is meant by windowing?
 Windowing involves using only a portion of the total image stored in the frame buffer for
image processing and analysis this portion is called window.

64. What is by digital conversion?

Digital conversion reduces the no of gray levels used by the machine vision system.
65. What is meant by segmentation?
The object of segmentation is to group areas of an image having similar characteristics or
features into distinct entities representing parts of the image
66. What are the techniques involved in segmentation?
Thresholding
Region growing
Edge detecting
67. What is meant by thersholding?
Thresholding is the binary conversion technique in which each pixel is converted into a binary
value.
68. What is meant by region growing?
Region growing is a collection of segmentation techniques in which each pixels are grouped
in regions called grid elements.
69. What is meant by edge detection?
Edge detection considering the intensity charge that occurs in the pixels at the boundary or
edge of the part
70. What is meant by feature extraction?
Feature extraction is usually accomplished by means of features that uniquely characterize
the object
71. What are the techniques used in object recognition?
Template matching technique
Structural technique
72. What is meant by template matching technique?
Template matching techniques are subsets of the motor general statistical pattern recognition
technique
73. What is meant by structural technique?
Structural techniques of pattern recognition consider relationship between the features or
edges of an object.

74. What are the electrical Drives in Manipulators

The term servo derived from phrase to serve, has meaning that the system that can be
controlled. The electrical actuators that can be controlled are DC servomotors, AC servo
motors and stepper motors
75. Classify different types of stepper motor?
Variable reluctance motors (soft steel rotor)
Permanent Magnet (PM) stepper motor
76. Define End effector:
End effector is a device that is attached to the end of the wrist arm to perform specific task.
77. What is meant by manipulator?
 Manipulator is a machine has a function similar to those of the human upper limbs and moves
an object spatially from one location to another.
78. Give some example of robot End effector:
Gripper
Tools
Welding equipments
End of arm tooling (EOAT)
79. What is meant by gripper?
Gripper is an End effector which can hold or grasp the object
80. What are the types of gripper?
Magnetic gripper
Mechanical gripper
Hooking gripper
Vacuum gripper
81. What is a stripping device?
A device used to remove workspace from the magnetic gripper
82. What are the types of mechanism gripper?
Linkage actuation gripper
Gear and rack actuation gripper
Cam actuation gripper
Screw actuation gripper
83. What are the advantages and disadvantages of magnetic gripper? Advantages
Pickup time very fast
Variation in part size can be tolerated. The gripper do not have to be designed for one
particular work part
They have ability to handle metal parts with holes
They require only one surface for gripping
Disadvantages
Residual magnetism
Side slippage
More than one sheet will be lifted by magnet from a stack
84. Write different types of magnetic gripper?
There are two of magnetic gripper
Electromagnetic gripper
Permanent magnet gripper
85. What is Adhesive gripper?
Adhesive gripper in which an adhesive substance performs the grasping action for handling
fabrics and other lightweight material are called adhesive gripper
86. Limitation of Adhesive gripper?
Adhesive substance losses his tackiness on repeated usage
Reliability is diminished with successive operations
87. List the advantages and features of suction cup gripper?
Require only one surface of the part for grasping
Applies uniform pressure distribution on the surface of the part
 Relatively a lightweight gripper
Applicable to a variety of different material.
88. Give some examples of tool as robot End effector
Shop welding tools
Arc welding tools
Spray painting nozzle
Water jet cutting tool
89. What is transfer function?
The transfer function relates the Laplace transformation of the system output to the Laplace
transformation of the system input.
90. What is controller?
Controller is information processing device whose input are both desired and measurement
position, velocity (or) other pertinent variables in a process and whose outputs are drive
signals to a motor (or) actuators.
91. Write control techniques of robot?
All industrial robots are either servo or non-servo controlled
Non servo (open loop) control
Servo (closed loop) control
92. What is actuator?
They convert the electrical energy into meaningful mechanical work
Mechanical output can be rotational or linear
Motor provide motion
Electromagnets provide linear motion
93. What is summing junction
Summing junctions may have any number of arrows entering but only one leaving
94. What is a take point?
Take of point permit signals and variables to be shared among more than a single component
95. What is a functional block?
Function block represents one of the components of the system and contains the transfer
function for the component.
96. What is a single arrow?
Single arrow indicates the direction of variables and signals in the diagram.

97. Name some feedback device used in Robotics?

Potentiometer
Resolver
Encoder
98. List the various actuating mechanism used in mechanical gripper?
Linkage actuation gripper
Gear and rack actuation gripper
Cam actuation gripper
Screw actuation gripper
99. Which type of robot is commonly used for pick and place operation?
 Cylindrical coordinate robot is commonly used for pick and place operation
100. What do you meant by material transfer application?
Material transfer application are defined as operation in which the primary objective is move
a part from one location to another location.
101. What is pick and place operation?
Pick and place operation involved tasks in which the robot picks the part at one location and
move it another location
102. What is meant by PID control?
The PID controller produces an output signal consisting of three terms-one proportional to
error signal, another one proportional to integral of error signal and the third one proportional
to derivative of error signal.
103. What is the principle of vacuum cup?
The principle used in vacuum pump and venture
104. What are the methods of robot programming?
Lead through methods
Texual robot languages
Mechanical programming

105. What are ways of accomplishing lead through programming?

Power lead through
Manual lead through
106. What is teach pendent?
The teach pendant is usually a small handheld control box with combinations of toggle
switches, dials and buttons to regulate the robots physical movements and program
capabilities.
107. What are the methods of teaching?
Joint movement
X-Y-Z coordinate motions
Tool coordinate motion
108. What are the basic mechanisms of legged robot?
Slider
Liver
109. What are the benefits that can be obtained with a legged robot?
Better mobility
Better stability on the platform
Better energy efficiency
Smaller impact on the ground
110. What is APAS?
Adaptable programmable system was developed by national science foundation & westing
house Electric Corporation. The purpose was to advance the state of the art in automated batch
assembly.
111. Write the different type of kinematics analysis of mechanism?
Graphical Position Analysis Method
 Algebraic Position Analysis of Linkages
Complex Algebra Method for Position Analysis
112. When a robot singularity will occurs?
A robot singularity occurs when robot axes are redundant (more axes then necessary to
cause the same motion) or when the robot is in certain configurations that require extremely
high joint rates to move at some nominal speed in Cartesian space

113. Write the two modes of lead through programming?

Teach mode
Run mode
114. Write end effector command
OPEN
CLOSE
OPEN I
CLOSED I
115. List out basic modes of operation in robot language structure.
The three basic modes of operations are
Monitor mode
Run mode
Edit mode
116. State that robot language element.
Constant, variables
Motion command
End effector and sensor command
Computation and operations.
117. What is meant by SCARA?
SCARA is a robot This also has a cylindrical work space. RRP main body. Such robots
were used to assemble the SONY Walkman.
118. Write some industrial application of robot?
a). Material handling application
Material transfer application
Machine loading/unloading application b). Processing application
Welding
Painting
Assembly
Inspection
119. What are the benefits of industrial robot?
Industrial robot offers the following benefits
Increase productivity
Improve product quality
More consistent product quality
Reduce scrap and waste
Reduce reworking costs
Reduce raw goods inventory
 Direct labour cost saving
Saving in overhead cost such as lighting, heating and cooling
120. What is palletizing?
Palletizing is the operation in which the robot picks cartons from conveyor and places them
on to a pallet
121. What is depalletizing?
Depalletizing operation is the reverse of palletizing operation in which the robot removes
cartons from the pallet and places them on to conveyor or other location
122. What are the different types of material handling operation?
Picking and placing
Palletizing and depalletizing
Machine loading and unloading
Parts feeding, storage and retrival
Sorting of the parts from conveyors
123. What are the gantry robots?
If the robots are mounted over head they are called gentry robots
124. How the workpieces are fed to the robot by some mechanical feeding device?
The workpieces are fed to the robot by some mechanical feeding device or conveyor in a
known location and orientation
125. What is the interpretation of manufacturing system?
Manufacturing system is defined as the system which converts the input into a suitable output
126. What are the technologies used in manufacturing system?
Computer aided design/computer aided manufacturing
FMS
CIM
AGILE
LEAN
127. Define the term CIM
The term CIM denotes the use of computer pervasive use of computer system to design the
product, plan the product, control the operations and perform the various business related
function
128. Write down some elements of CIM?
LAN, Database, FEM, QC, CNC, TOOL DESIGN, MARKETING, COMPUTER AIDED
DESIGN, ANALYSIS, ROBOT SCHEDULING
129. Application of robot in loading and unloading?
Die casting
Injection moulding
Forming, stamping
Trimming process
130. What is assembly?
The term assembly is defined to mean the fitting of two or more discrete parts to form a new
subassembly
131. Defined part presentation.
 In order to perform an assembly task the part that is to be assembled must be presented to
robot this is part presentation
132. Explain bowl feeders?
Bowl feeders are devices used for feeding and orienting small parts in automated assembly
operations. They are made two main components
The bowl
The vibrating base
133. What are the types of assembly operation?
Parts mating
Parts joining
134. Basic configuration of assembly systems?
A single workstation assembly
A series of work station assembly
Combination of both
135. Explain designing for robot assembly.
Certain assembly tasks are very difficult for the robot to perform than others.
If possible this difficulty factor should be consider in the design of product
Another consideration in the design of an assembly is the direction in which the parts are to
be added in the assembly operation

136. What are parts feeding, storage and retrieval process?

Parts feeding means feeding the part to the machine
Storage means storing different types of object in the pallet
Retrieval is the process of taking the object from the pallet
137. What is pallet?
Pallet is a storage area which consists of a number of cells to store workpiece of different
size
138. Differentiate palletizing and depalletizing

Palletizing Depallatizing
a. The pickup point is constant a. The pickup point is different
b. The delivery point is different b. The delivery point is