OBJECTIVE QUESTIONS

UNIT-I
1. Based on finger movement, Mechanical gripper can be classified as __________ [C]
a) Pivoting movement
b) Linear or translational movement
c) a & b
d) None

2. A Spherical coordinate robot should have ________ joints [C]

(a) One revolute and two prismatic
(b) Three prismatic
(c) Two revolute and one prismatic
(d) a, b& c

3. Based on the coordinate system robots can be classified as_________ robots. [D]
(a) Cartesian
(b) Spherical
(c) Cylindrical
(d) a, b& c

4.A manipulator with 6 DOF is ______________ [D]

(a) 1-D Manipulator
(b) 2-D Manipulator
(c) 3-D Manipulator
(d) Spatial Manipulator

5. Technology that is concerned with the use of mechanical, electronic and computer based
systems in the operation and control of production [B]
(a) Mechanization
(b) Automation
(c) Industrialization.
(d) All the above.

6. Use of machines to do the work of animals/people [D]

(a) Mechanization
(b) Automation
(c) Industrialization.
(d) All the above.

7.__________ Robot comes under type of automation. [B]

(a) Programmable
(b) Flexible
(c) Fixed
(d) a & b

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS

8. Following is the work transfer mechanism in an automated flow line [B]
(a) Walking beam transfer bar mechanism
(b) Powered roller conveyor system
(c) Chain drive conveyor system
(d) Any of the above

9. Number of buffers in an n – staged line [C]

(a) n
(b) n-1
(c) n+1
(d) 1/n 6.

10. Work station continues to operate with no part to work on is called…... …….. [C]
(a) Blocking of stations
(b) Idling of stations
(c) Starving of stations
(d) Any of the above.

11. The following is the performance measure of line efficiency [D]

(a) Cost per item
(b) Average production rate
(c) Proportion of down time
(d) All the above

12. Following are the constraints in the line balancing problem [A]
(a) Precedence constraints
(b) zoning constraints
(c) Position constraints
(d) All the above

13. Graphical representation of the sequence of work elements as defined by the precedence
constrains. [A]
(a) Flow diagram
(b) Network diagram
(c) Precedence diagram
(d) All the above.

14. Following method improves the balance of the line………………. [D]

(a) Dividing work elements
(b) Methods analysis
(c) Parallel stations
(d) All the above.

15. The attractive feature of SCARA robot [C]

(a) More tolerance
(b) Selective compliance
DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(c) Accuracy
(d) Repeatability

16. The robot configuration, which is used in high reach applications [B]
(a) Polar
(b) Jointed arm
(c) Spherical
(d) a & b.

17. Interface between the last link of the manipulator and the end effectors is called [B]
(a) Critical joint
(b) Gripper
(c) Wrist
(d) Tool flange / too mounting plate.

18. The device which is used to interpret the data stored in a memory of a robot. [B]
(a) Sensor
(b) controller
(c) Sequencer
(d) Synchronizer.

19. Number degrees of freedom exhibited by robot wrist [C]

(a) 1
(b) 2
(c) 3
(d) 4

20. The technical name of a hand attached to the wrist of the robot [B]
(a) gripper
(b) End effector
(c) Joint
(d) Any of the above

UNIT II
1. If the orientation changes without the change of position then the transformation is [B]
(a) Pure translation
(b) Pure rotation
(c) Combined transformation
(d) None

2. ____________ can be considered as Differential motions of a frame. [D]

(a) Differential translations
(b) Differential rotations
(c) Differential transformations
(d) a, b, & c

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS

3. The matrix representing the Euler angles orientation change is ________ [A]
(a) Rot (a,) Rot (o, Rot (o, ψφθ)
(b) Rot (o, θ)
(c) Rot (a,) Rot (a, Rot (o, ψφθ)
(d) None

4. Following is the robotic like device. [D]

(a) Telecherics
(b) Exo-skeleton
(c) Locomotive device
(d) All the above

5. Number of linear co-ordinates in a cylindrical co-ordinate robot. [A]

(a) 2
(b) 3
(c) 1
(d) 0

6. Work volume of a spherical robot [C]

(a) Cylinder
(b) Paraboloid
(c) Sphere
(d) Cube

7. Wrist motions of the robot among the following. [D]

(a) Yaw
(b) Pitch
(c) Roll
(d) All the above

8. Type of control used in Cartesian robot. [A]

(a) Servo
(b) Non-servo
(c) Pneumatic
(d) Hydraulic

9. ……………….type of robot uses feedback from the control system [B]

(a) Non-servo
(b) Servo
(c) a & b
(d) Pneumatic

10. Type of robot used in spray painting applications [D]

(a) Point to point
(b) bang-bang
(c) End point
DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(d) Continuous path

11. If A- is a non-singular square matrix, then A-I = ………………. [A]

(a) adjA X detA
(b) adjA A + detA
(c) adjA ÷ detA
(d) detA ÷ adjA

12. Using ___________kinematic equations, one can calculate where the robot is at any
instant If all the robot joint variables are known [A]
(a) Inverse
(b) Forward
(c) a & b
(d) None

13. The DOF is also equal to the number of ______ in the open kinematic chain [B]
(a) Links
(b) Joints
(c) Instantaneous centre
(d) None

14. In fixed angle representation, ordering of rotation is from [C]

(a) Top to bottom
(b) Bottom to top
(c) Left to right
(d) Right to Left

15. Wrist motions of the robot among the following. [D]

(a) Yaw
(b) Pitch
(c) Roll
(d) All the above

16. Dynamic equations of motion of robot arm allows [D]

(a) Analysis
(b) Synthesis
(c) Simulation
(d) All the above.

17. If A- is a non-singular square matrix, then A -I = ………………. [A]

(a) adjA X detA
(b) adj A + detA
(c) adjA ÷ detA
(d) detA ÷ adjA

18. Measure of mass distribution…………………….. [D]

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(a)Radius of gyration
(b) Acceleration
(c) Moment of inertia
(d) Any of the above.

19. Newton – Euler formulation is used to analyze the ……behavior of the manipulator. [A]
(a) Static
(b) Dynamic
(c) Kinematic
(d) Kinetic.

20. In Lagrange – Euler Equation [B]

Where L – Lagrangian function = KE – PE, qi – Generalized co-ordinate
(a) Velocity (V i)
(b) Acceleration (a i)
(c) Torque (T i)
(d) None of the above

UNIT-III
1. Jacobian relates the velocities of joints to the velocities of ………………. [B]
(a)Tool point
(b) Manipulator
(c) Joint
(d) None of the above.

2. As the complexity of the system increases, the __________ method becomes relatively
simpler to use. [B]
(a) Newtonian- Euler
(b) Lagrangian-Euler
(c) a & b
(d) None

3. Jacobian relates the velocities of joints to the velocities of ………………. [B]

(a)Tool point
(b) Manipulator
(c) Joint
(d) None of the above.

4. Lagrangian Function L= f (Kinetic Energy, Potential Energy) =………… [B]

(a) KE + PE
(b) KE – PE
(c) KE ÷ PE
(d) PE ÷KE

5. As the complexity of the system increases, the __________ method becomes relatively
simpler to use. [B]
DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(a) Newtonian- Euler
(b) Lagrangian-Euler
(c) a & b
(d) None

6. Newton – Euler formulation is used to analyze the ……behavior of the manipulator. [A]
(a) Static
(b) Dynamic
(c) Kinematic
(d) Kinetic.

7.The relation between Lagrangian function (L), total kinetic energy (K) and total potential
energy of a mechanical system is ____________ [A]

(a) L=K-P
b) L=K+P
(c) L=K/P
(d) L=P/K

8. In Lagrange – Euler Equation [B]

Where L – Lagrangian function = KE – PE, qi – Generalized co-ordinate
(a) Velocity (Vi)
(b) Acceleration (ai)
(c) Torque (Ti)
(d) None of the above

9. Dynamic model of a robotic arm can be studied by [C]

(a) Newtonian Laws
(b)Lagrangian Laws
(c) Eularian Laws
(d) All the above.

10. As the complexity of the system increases, the __________ method becomes relatively
simpler to use. [B]
(a) Newtonian- Euler
(b) Lagrangian-Euler
(c) a & b
(d) None

11. Lagrangian Function L= f (Kinetic Energy, Potential Energy) =………… [B]

(a) KE + PE
(b) KE – PE
(c) KE ÷ PE
(d) PE ÷KE

12. Newton – Euler formulation is used to analyze the ……behavior of the manipulator. [A]
DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(a) Static
(b) Dynamic
(c) Kinematic
(d) Kinetic.

13. The LE and NE presented in this chapter provide a symbolic solution to __________
dynamics [B]
(a) Singularities
(b) Manipulator
(c) Links
(d) Joints

14. The LE dynamic formulation is based on a set of generalized coordinates to describe the
__________ Variables [C]
(a) Constant
(b) System
(c) Fixed
(d) Computer

15. The left hand side of dynamic equations can be interpreted as sum of the ______ [A]
(a) Torques
(b) Velocities
(c) Acceleration
(d) Right hand side

16. The task is specified as initial and final end – effectors location this is called
___________Motion. [B]

(a) Point to point

(b) P
(c) P+1
(d) Path constraints

17. High stiffness and high accuracy are the characteristics of __________ actuator system
[A]
(a) Hydraulic
(b) Pneumatic
(c) Manipulator
(d) System

17. Robots can be easily programmed to perform ________________Operation [A]

(a) Palletizing
(b) Bomb detection
(c) Drilling
(d) Painting

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS

19. Velocity vectors belonging to a class of vectors called ____________ [A]
(a) Free vectors
(b) Constant variables
(c) Unit vectors
(d) All the above

20. A single leading superscript in velocity vector will denote the____________ [D]
(a) Dynamics
(b) Degree of freedom
(c) Joints
(d) Frame of description

UNIT-IV
1.__ space trajectories are computationally extensive, and require a faster processing time.
[B]
(a) Joint
(b) Cartesian
(c) a & b
(d) None

2. An N-joint manipulator will have………….number of trajectory segments [C]

(a) 3N
(b) 5N
(c) (a) and (b)
(d) None of the above

3. Mathematical functions used in trajectory planning problems. [A]

(a) Fourier
(b) Laplace
(c) Polynomial
(d) All the above.

4.________ schemes can be used in joint-space trajectory planning [C]

(a) Third- order polynomial
(b) Fifth- order polynomial
(c) a & b
(d) None

5. Third-degree polynomial can be used with __________ number of constraints. [D]

(a) 1
(b) 2
DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(c) 3
(d) 4

6. Trajectory planning satisfies………… [D]

(a) Only path constraints
(b) Only path specifications
(c) Only dynamic constraints
(d) All the above.

7. An N-joint manipulator will have………….number of trajectories. [B]

(a) N
(b) (N+1)
(c)(N-1)
(d) (N+2).

8. Mathematical functions used in trajectory planning problems. [A]

(a) Fourier
(b) Laplace
(c) Polynomial
(d) All the above.

11. Newton’s equation gives the relationship between [B]

(a) Torque, mass, jerk
(b) Force, mass, acceleration
(c) Power, force, velocity
(d). Energy, mass, velocity

12. Differential change in the manipulator can be computed by………………. [C]

(a) Jacobian
(b) Inverse Jacobian
(c) Any of the above
(d) None of the above.

13. Using ___________kinematic equations, one can calculate where the robot is at any
instant If all the robot joint variables are known [A]
(a) Inverse
(b) Forward
(c) a & b
(d) None

14. The DOF is also equal to the number of ______ in the open kinematic chain [B]
(a) Links
(b) Joints
(c) Instantaneous centre
(d) None

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS

15. In fixed angle representation, ordering of rotation is from [C]
(a) Top to Bottom
(b) Bottom to Top
(c) Left to Right
(d) Right to Left

16. Wrist motions of the robot among the following. [D]

(a) Yaw
(b) Pitch
(c) Roll
(d) All the above

18. Type of control used in Cartesian robot. [A]

(a) servo
(b) Non-servo
(c) Pneumatic
(d) Hydraulic

20. An N-joint manipulator will have………….number of trajectories. [B]

(a) N
(b) N+1
(c) N-1
(d) N+2
UNIT V

1. If the orientation changes without the change of position then the transformation is ___ [B]
(a) Pure translation
(b) Pure rotation
(c) Combined transformation
(d) None

2. ____________ can be considered as Differential motions of a frame. [D]

(a) Differential translations (b) differential rotations
(c) Differential transformations (d) a, b, & c

3. The matrix representing the Euler angles orientation change is ___________ [A]
(a) Rot (a,) Rot (o, Rot (a, ψ θ φ)
(b) Rot (o, θ)
(c) Rot (a,) Rot (a, Rot (o, ψ φ θ)
(d) None

4. Following is the robotic like device. [A]

(a) Telecherics
(b) Exo-skeleton
(c) Locomotive device
(d) All the above

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS

5. Number of linear co-ordinates in a cylindrical co-ordinate robot. [A]
(a) 2
(b) 3
(c) 1
(d) 0

6. Type of robot used in spray painting applications [D]

(a) Point to point
(b) bang-bang
(c) End point
(d) Continuous path

7. Jacobian relates the velocities of joints to the velocities of ………………. [B]

(a)Tool point
(b) Manipulator
(c) Joint
(d) None of the above.

8. If A- is a non-singular square matrix, then A -I = ………………. [A]

(a) adjA X detA
(b) adj A + detA
(c) adjA ÷ detA
(d)detA ÷ adjA

10. Lagrangian Function L= f (Kinetic Energy, Potential Energy) =………… [B]

(a) KE + PE
(b) KE – PE
(c) KE ÷ PE
(d) PE ÷KE

11. Measure of mass distribution…………………….. [D]

(a) Radius of gyration
(b) Acceleration
(c) Moment of inertia
(d) Any of the above.

12. Newton – Euler formulation is used to analyze the ……behavior of the manipulator. [A]
(a) Static
(b) Dynamic
(c) Kinematic
(d) Kinetic.

13. In Lagrange – Euler Equation [B]

Where L – Lagrangian function = KE – PE, qi – Generalized co-ordinate
(a) Velocity (V i)
(b) Acceleration (a i)
(c) Torque (T i)
DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS
(d) None of the above

14. Wrist motions of the robot among the following. [D]

(a) Yaw
(b) Pitch
(c) Roll
(d) All the above

15. The attractive feature of SCARA robot [C]

(a) More tolerance
(b) Selective compliance
(c) Accuracy
(d) Repeatability

16. Type of control used in Cartesian robot. [A]

(a) servo
(b) Non-servo
(c) Pneumatic
(d) Hydraulic

17.__ space trajectories are computationally extensive, and require a faster processing time.
[B]
(a) Joint
(b) Cartesian
(c) a & b
(d) None

18. Path end points can be specified in………….. [C]

(a) Joint co-ordinates
(b) Cartesian co-ordinates
(c) (a) and (b)
(d) None of the above

19. An N-joint manipulator will have………….number of trajectory segments [C]

(a) 3N
(b) 5N
(c) a & b
(d) None of the above

20. Mathematical functions used in trajectory planning problems. [A]

(a) Fourier
(b) Laplace
(c) Polynomial
(d) All the above.

DEPARTMENT OF MECHANICAL ENGINEERING ME733PE-ROBOTICS