www.examquestionpaper.

in

DEPARTMENT OF MECHANICAL ENGINEERING

SEMESTER: II-CAD/CAM (M.E)
SUBJECT CODE: ED7071
SUBJECT NAME: INDUSTRIAL ROBOTICS AND EXPERT SYSTEMS

UNIT1
PART A
1. Define a Robot.
2. What is meant by automation?
3. What is manipulator?
4. What are the basic components of a robotic system?
5. What is Forward transformation?
6. What is reverse transformation?
7. What is meant by Work space?
8. What is meant by accuracy of robot?
9. What is work volume?
10. Define End effector and Gripper
11. What are the types of grippers?
12. Define accuracy and repeatability.
13. What is spatial resolution?
14. What is joint notation scheme?
15. Name the important specifications of an industrial robot.
16. Name the different sensors used in robots.
17. What is robot dynamics
18. What is robot kinematics?
19. Define robot trajectory.
20. What are the four basic robot configurations available commercially?

PART B
1. What is the work envelope of a robot? Sketch and explain the following robots indicating
the joints and degree of freedom. i) Cartesian robot. ii) Polar robot.
2. Explain various parts of robots with neat sketch.
3. Explain the main Robot anatomy with neat sketch.
4. Explain forward transformation and reverse transformation of robot manipulator with 2
degrees of freedom.

www.examquestionpaper.in

www.examquestionpaper.in

5. Describe briefly the kinematics and dynamics of a robot.

6. Explain forward transformation and reverse transformation of robot manipulator with 3
degrees of freedom.
7. Classify the robots according to the coordinates of motion. With a sketch and example,
explain the features of each type.
8. Sketch and explain the following configuration of robot.(i) TRR ii) TRL:R iii) RR:R
9. Briefly explain in the following terms: (i) Payload (ii) compliance (iii) Precision (iv)
Accuracy.
10. Explain Robot trajectory planning with example.
UNIT2
PART A
1. What is actuator?
2. What are the different types of actuators?
3. What are the factors which must be considered while choosing the drive system for
robots?
4. List the advantages and dis-advantages of hydraulic drive?
5. List the advantages and dis-advantages of electric drive?
6. List the advantages and dis-advantages of pneumatic drive?
7. What are the applications of magnetic grippers?
8. What are the draw backs of vacuum grippers?
9. What are the draw backs of magnetic grippers?
10. What is servo motor? Where it is used?
11. List out the characteristics of servo motor.
12. What is stepper motor? Where it is used?
13. What are the types of actuators used in robot end effectors?
14. Distinguish between series wound and shunt wound motor?
15. What are linear actuators?
16. What are rotary actuators?
17. What are the factors to be considered while selecting an end effector?
18. What is electro-hydraulic servo valve?
19. What is end effector?
20. What is mechanical gripper?
PART B
1. Sketch the pneumatic circuits to control different motions of cylindrical and Cartesian
coordinates robot.
2. Describe the robot gripper to take measurements of outer and inner dimensions of objects
with the aid of pneumatic gauging.
3. a) What are the different actuators used in the robots? Describe them briefly.

www.examquestionpaper.in

www.examquestionpaper.in

b) Explain the working of a stepper motor.

4. Discuss the applications and working principle of the following sensors .i) Position
sensor, ii) velocity sensor.
5. Name different types of end effectors. Compare and contrast the end effectors from the
view point of their functions.
6. With a neat sketch explain the working of any two robot actuator.
7. a) Explain Pneumatic actuators system with neat sketch.
b) Explain hydraulic actuators system with neat sketch.
8. Write note on Gripper selection and design.
9. a) Write a note on Magnetic Grippers.
b) Write a note on vacuum Grippers.
10. Explain the various drive system used with an industrial robot and compare their features,
merits and demerits.
UNIT 3
PART A
1. What is a sensor?
2. What are the basic classifications of sensors in robotics?
3. Tactile sensor-define.
4. What is proximity sensor?
5. How range sensors work?
6. How to sense the joint forces?
7. List the various techniques in image processing & analysis
8. What is image representation?
9. How to grab an image?
10. Brief about image processing?
11. How to analyze the image?
12. What is edge enhancement?
13. Define contrast stretching?
14. What is thresholding?
15. How do sense the position accuracy of a robot?
16. What are the desirable features of sensors in robotics?
17. What is meant by sampling?
18. What is meant by quantisation?
19. What is meant by encoding?
20. What is region growing?

www.examquestionpaper.in

www.examquestionpaper.in

PART B
1. What is robot vision? What are the types of vision sensor used to take the image of an
object?
2. a) Describe the methods of template matching.
b) Describe a sensing device to generate the contour pictures of a workshop.
3. What is pattern recognition? Briefly describe a sensing device to generate the contour
picture of a work piece.
4. a) Distinguish between tactile and non-tactile sensors.
b) Explain the working of proximity and range sensors.
5. a) Describe a vision sensor used to take the image of an object.
b) Discuss response, accuracy and sensitivity in relation to robot sensors.
6. With neat block diagram explain machine vision system in robotics.
7. Explain the various techniques in Image Processing and Analysis.
8. Compare various lighting techniques used in machine vision and image processing
analysis.
9. With an aid of sketch describe briefly a strain gauge type wrist force/torque sensor.
10. With suitable applications brief explain the following:
(i)Optical encoders (ii) Laser range meters (iii) Capacitive type touch sensors
(iv)Ultrasonic proximity sensors
UNIT 4
PART A
1. What is the importance of work envelope relating to robot safety?
2. Distinguish between output and input interlock?
3. What are robot cells?
4. What is cell control?
5. What are robot safety features?
6. What is a cell layout?
7. What is interference?
8. What are cycle times?
9. List out the industrial applications of robot.
10. What is palletizing?
11. What are the general characteristics that make potential robot application technically
practical and economically feasible?
12. What is Gantry Robot?
13. What are the different types of material handling operation?
14. How robots used in welding industries?
15. Where multiple robots used?

www.examquestionpaper.in

www.examquestionpaper.in

16. What are the benefits of cycle time analysis?

17. What are the factors to be considered while selecting a robot for an industrial application?
18. What are the importances of safety in robots?
19. What is depalletizing?
20. What is AGV? List out the types of AGVs.
PART B
1.
2.
3.
4.
5.
6.
7.

Briefly explain the safety sensors and safety monitoring of robots in detail.
Explain the workplace design consideration for safety of robots in detail.
Briefly explain the various steps involved for implementing the robot in industries.
With examples, explain the industrial applications of robots.
Explain the robot work cell arrangements with simple sketch.
State five safety hazards that can be identified within industrial robot installations.
What are the possible robot applications in manufacturing industries? Classify such
robots from the viewpoints of drives and controls.
8. Explain in detail about robot cycle time analysis.
9. What is meant by robot cell? Explain the different robotic cell layouts.
10. Discuss robot application for assembly and inspection.
UNIT V
PART A
1. What are the methods of robot programming?
2. What is teach pendant?
3. What is lead through programming?
4. Explain joint mode of teaching robots?
5. Define servo control robots?
6. What is artificial intelligence?
7. What are goals of KBES?
8. What is problem representation in AI?
9. What are the applications of KBES ?
10. What is manual lead through programming?
11. Explain the reasons for defining points in a program.
12. State the methods for defining position in space irrespective of robot configuration?
13. What are the goals of AI in research?
14. What is motion interpolation?
15. What are the different types of interpolation?
16. Define problem reduction.
17. What is task level language? Give example.

www.examquestionpaper.in

www.examquestionpaper.in

18. What are the benefits of artificial intelligence?

19. What are irregular smooth motions?
20. What is circular Interpolation?
PART B
1.
2.
3.
4.
5.
6.

Briefly explain the Robot Programming Languages in detail.

Explain the teach pendant for Robot system
Write down the capabilities and limitations of Lead through methods.
List the commands used in VAL II programming and describe its functions.
Describe the different search techniques employed by AI program.
The robot is to be programmed to pick up a part from point A and move it point B,
followed by a move to a neutral position. Points A and B are to be defined by the
programmer within robots work volume. Then the robot should pick up the part at point b
and move it back to point a, followed by a move to pervious neutral position. The robot
can be operated continually the run mode to repeat the motion pattern over and over.
Give the design of the robot.
7. Write extensively on AI Problem reduction and solution
8. Explain AI and KBES in detail. What are the applications of AI and KBES?
9. Explain the various types of motion interpolations.
10. Elaborate AI technique, with suitable sketches.

www.examquestionpaper.in