Industrial Robotics and Expert systems

Test your understanding in the subject

1. Explain the importance of Robotics in Automation.
b) Discuss briefly about various sensors.
2 .a) Explain about the controllers in detail.
b) Explain about the Robot Anatomy and configuration.
3.a) Explain about homogeneous Transformations in Robotics kinematics.
b) Discuss briefly about path control and path generation.
4. Describe about D-H Transformation for a forward Kinematics problems of planar 3 dof manipulator.
5.a) Discuss in detail about the Grippers and its types.
b) Explain about the Image processing and Image data Reduction.
6.a) Describe about the selection and design of grippers. B. Give the classification of Robots.
7.a) How do you specify a robot? Is robotics automation? Discuss the different classification systems of robots.
b) Define the terms ‘Robot’ and ‘Robotics’. Discuss the role of robots in engineering.
8.a) What are the different actuators used in the robots? Describe them briefly.
b) Discuss the different feedback components used in robots.
9. Explain briefly the two stage control of manipulator using interpolation of end effectors position method.
10 .a) Explain the working of magnet grippers used for robots.
b) Discuss the applications and working principle of the following
sensors. i) Range sensors ii) Acoustic sensors iii) Tactile sensors.
(i) Compare common robot configurations.
(ii) Describe the five types of joints used in industrial robot construction.
11. (a) Name four different types of end effectors.Compare and contrast the end effectors from the view point of their functions
12. a) Discuss the basic operational charcteristics of the following proxinsity sensors:
(i) Inductive sensor
(ii) Hall effect sensor
(iii)Capacitive sensors
(iv) Ultrasonic sensors
13. Why are SCARA robots preferred for assembly operations? Compare and contrast revolute robots and SCARA robots from the view point of assembly operations
(ii) Describe briefly the operations involved in robotic spot welding .What are the advantages of robotic welding over manual welding?
14. (b) Describe the use of robots in the following:(i) Material handling. (ii) Loading and unloading.
15. Differentiate between force control and position control of robotic manipulators. Give suitable examples. ' - Derive expressions for, homogeneous transformation matrices both for rotated as well as translated frame.
16. Differentiate between servo and non servo manipulators
17. Discuss the direct and inverse kinematic models.
18. Write short note on the following:
(a) Force Control of robotic manipulator. (b) Optical encoder
19. Sketch and explain the following configurations of the robot TRR, TRL:R, RR:R
20. Explain trajectory planning and show how trajectory planning is done in case of point to point robot having constant maximum velocity, finite acceleration and deceleration.
21. A vacuum gripper is used to lift a steel plate 900 x 600 x 7 mm . two suction cups of 125 mm are located 450mm apart for lifting it. Take FOS as 1.7 , density of steel is 8.54.3 kg/cub.m find the negative pressure needed to lift the plate.
22.Explain the principle of force sensing.Describe force sensing with strain gauges and force sensing wrist.
23. Explain the terms related to robots :compliance, payload, precision and accuracy.
24.What are the different electrical actuators? Explain the working principle of a stepper motor. Explain the micro stepping using stepper motors.
25.Explian the specifications of an Industrial robot. Explain each of them individually.