QUESTION BANK

UNIT I Fundamentals of Robots

Part-A
1. Define Robot. Nov/Dec 2008
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. Types of rotary joint notations Nov/Dec 2010
o Rotational joint (type R)
o Twisting joint (type T)
o Revolving joint (type V)
3. Work space? Nov/Dec 2010
The space in which the end point of the robot arm is capable
of operating 4. 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. Benefits of industrial robots? Nov/Dec 2009
▪
Increased Productivity
▪
Significant Savings
▪
Improved Quality
▪
Better Safety
▪
Competitive Edge

6. Repeatability of robot? May/June 2013

Repeatability refers to robot‘s ability to return to the programmed point when it

is commanded to do so.

7. Define Pitch, yaw and roll. Apr/May 2010

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? Nov/Dec 2009
The volume of the space swept by the robot arm is called work volume.

9. Define the Quality of a robot. Nov/Dec 2011

A Robot is said to be high quality when the precision and accuracy is
more.

10. Robot anatomy? Nov/Dec 2010,2011,2013

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. Three degrees of freedom associated with the arm and body motion? Apr/May2010
1. Right (or) left movement (X-axis motion)
2. In and out movement (Y-axis motion)
3. Vertical movement (Z-axis motion)

12. What is Industrial Robot? May/June 2011

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. What is mean Payload? Nov/Dec 2012,2013

The maximum load which can be carried out by the manipulator at low or
normal speed.
14. List out the Important specifications of an industrial robot. May/June 2013

o Accuracy
o Repeatability
o Degree of Freedom
o Resolution
o Envelope
15.Four basic robot configurations available commercially? Nov/Dec 2010,2011
o Cartesian coordinate system
o Cylindrical coordinate system
o Polar or spherical coordinate system
o Revolute coordinate system
15. Work envelop? Nov/Dec 2009,2011,2012
The work envelop is described by the surface of the work space.

Part-B (16 Marks)

1. D ifferent types of robots. Nov/Dec 2008

Industrial robots
Industrial robots are used in an industrial manufacturing environment. Usually these
are articulated arms specifically developed for such applications as welding, material
handling, painting and others.
Domestic or household robots
Robots used at home. This type of robots includes many quite different devices such as
robotic vacuum cleaners, robotic pool cleaners, sweepers, gutter cleaners and other robots
that can do different chores.
Also, some surveillance and telepresence robots could be regarded as household robots
if used in that environment.
Medical robots
Robots used in medicine and medical institutions. First and foremost - surgery robots.
Also, some automated guided vehicles and maybe lifting aides.
Service robots
Robots that don’t fall into other types by usage. These could be different data gathering
robots, robots made to show off technologies, robots used for research, etc.
Military robots
Robots used in military. This type of robots includes bomb disposal robots, different
transportation robots, reconnaissance drones. Often robots initially created for military
purposes can be used in law enforcement, search and rescue and other related fields.
Entertainment robots
These are robots used for entertainment. This is a very broad category. It starts with toy
robots such as robosapien or the running alarm clock and ends with real heavyweights such
as articulated robot arms used as motion simulators.
Space robots
This type would include robots used on the International Space Station, Canadarm that
was used in Shuttles, as well as Mars rovers and other robots used in space.
Hobby and competition robots
Most of the hobbyist robots are mobile and made to operate by rolling around on wheels
propelled by electric motors controlled by an on board microprocessor.
Explorer robots
The majority of these robots are completely self-reliant due to their sensory systems,
however they may also be controlled by humans giving orders through computer
commands.
The other types of explorer robots are underground mine exploring robots, seeing and
walking undersea robots, and even bomb defusing robots used by police.

Laboratory robots
Laboratory robotics is the act of using robots in biology or chemistry labs.
For example, pharmaceutical companies employ robots to move biological or chemical
samples around to synthesize novel chemical entities or to test pharmaceutical value of
existing chemical matter.
Sequence robots
A manipulator which progresses successively through the various stages of an
operation according to the predetermined sequence.
Playback robots
The playback robots are capable of performing a task by teaching the position. These
positions are stored in the memory, and done frequently by the robot. Generally, these
playback robots are employed with a complicated control system. It can be divided into two
important types, namely:
Point to Point control robots
Continuous Path control robots
2. Four basic robot configurations classified according to the coordinate system.
Nov/Dec2011
Classification Based on Physical Configuration (or) Co-ordinate Systems:
Cartesian configuration
Cylindrical configuration
Polar configuration
Joint-arm configuration
Cartesian Configuration:
Robots with Cartesian configurations consist of links connected by linear joints (L).
Gantry robots are Cartesian robots (LLL).

Cylindrical Configuration

linear (L) joints succeeded to connect the links.

The designation of the arm for this configuration can be TRL or TRR. Robots
with the designation TRL are also called spherical robots.
Those with the designation TRR are also called articulated robots. An
articulated robot more closely resembles the human arm.
Joint-arm Configuration:
The jointed-arm is a combination of cylindrical and articulated configurations.
The arm of the robot is connected to the base with a twisting joint. The links in
the
arm are connected by rotary joints.
Many commercially available robots have this configuration.
Simple Comparison of Co-ordinate systems
3. Joint Notation Scheme. Apr/May2010
A robot joint is a mechanism that permits relative movement between parts of a robot
arm. The joints of a robot are designed to enable the robot to move its end-effector along a
path from one position to another as desired.
The basic movements required for a desired motion of most industrial robots are:

1. Rotational movement: This enables the robot to place its arm in any direction on a
horizontal plane.
2. Radial movement: This enables the robot to move its end-effector radially to reach
distant points.
3. Vertical movement: This enables the robot to take its end-effector to different heights.
4. These degrees of freedom, independently or in combination with others, define the
complete motion of the end-effectors.

These motions are accomplished by movements of individual joints of the robot arm. The
joint movements are basically the same as relative motion of adjoining links. Depending on
the nature of this relative motion, the joints are classified as prismatic or revolute.

Prismatic joints are also known as sliding as well as linear joints. They are called
prismatic because the cross section of the joint is considered as a generalized prism. They
permit links to move in a linear relationship.
Revolute joints permit only angular motion between links. Their variations include:
Rotational joint (R)
Twisting joint (T)
Revolving joint (V)
In a prismatic joint, also known as a sliding or linear joint (L), the links are generally
parallel to one another. In some cases, adjoining links are perpendicular but one link slides at
the end of the other link.
The joint motion is defined by sliding or translational movements of the links. The
orientation of the links remains the same after the joint movement, but the lengths of the links
are altered.
A rotational joint (R) is identified by its motion, rotation about an axis perpendicular to
the adjoining links. Here, the lengths of adjoining links do not change but the relative position
of the links with respect to one another changes as the rotation takes place.

A twisting joint (T) is also a rotational joint, where the rotation takes place about an axis
that is parallel to both adjoining links.

A revolving joint (V) is another rotational joint, where the rotation takes place about an
axis that is parallel to one of the adjoining links. Usually, the links are aligned perpendicular
to one another at this kind of joint. The rotation involves revolution of one link about another.
4. T echnical specification in Robotics. Nov/Dec2009
Accuracy:
The robot's program instruct the robot to move to a specified point, it does not
actually perform as per specified.
The accuracy measures such variance. That is, the distance between the specified
position that a robot is trying to achieve (programming point), and the actual X, Y and Z
resultant position of the robot end effector.
Repeatability:
The ability of a robot returns repeatedly to a given position. It is the ability of a robotic
system or mechanism to repeat the same motion or achieve the same position. Repeatability
is is a measure of the error or variability when repeatedly reaching for a single position.
Repeatability is often smaller than accuracy.
Degree of Freedom (DOF):
Each joint or axis on the robot introduces a degree of freedom. Each DOF can be a
slider, rotary, or other type of actuator. The number of DOF that a manipulator possesses
thus is the number of independent ways in which a robot arm can move. Industrial robots
typically have 5 or 6 degrees of freedom.

Three of the degrees of freedom allow positioning in 3D space (X, Y, Z), while the
other 2 or 3 are used for orientation of the end effector (yaw, pitch and roll). 6 degrees of
freedom are enough to allow the robot to reach all positions and orientations in 3D space.
5 DOF requires a restriction to 2D space, or else it limits orientations. 5 DOF robots are
commonly used for handling tools such as arc welders.
 Resolution:
The smallest increment of motion can be detected or controlled by the robotic control
system. It is a function of encoder pulses per revolution and drive (e.g. reduction gear)
ratio. And it is dependent on the distance between the tool center point and the joint axis.
Envelope:
A three-dimensional shape, that defines the boundaries that the robot manipulator
can reach; also known as reach envelope.
Reach:
The maximum horizontal distance between the center of the robot base to the end of
its wrist.
Maximum Speed:
A robot simultaneously moving with all joints in complimentary directions at full
speed with full extension. The maximum speed is the theoretical values which does not
consider under loading condition.
Payload:
The maximum payload is the amount of weight carried by the robot manipulator at
reduced speed while maintaining rated precision. Nominal payload is measured at
maximum speed while maintaining rated precision. These ratings are highly dependent on
the size and shape of the payload due to variation in inertia.

5. V arious parts of a robot with neat sketch. Apr/May 2010

Controller:
Every robot is connected to a computer, which keeps the pieces of the arm working
together. This computer is known as the controller.
The controller functions as the "brain"of the robot. The controller also allows the robot
to be networked to other systems, so that it may work together with other machines,
processes, or robots.

Robots today have controllers that are run by programs - sets of instructions written in
code. Almost all robots of today are entirely pre-programmed by people; they can do only
what they are programmed to do at the time, and nothing else. In the future, controllers
with artificial intelligence, or AI could allow robots to think on their own, even program
themselves. This could make robots more self-reliant and independent.
Arm:
Robot arms come in all shapes and sizes. The arm is the part of the robot that positions
the end- effector and sensors to do their pre-programmed business. Many (but not all)
resemble human arms, and have shoulders, elbows, wrists, even fingers.
This gives the robot a lot of ways to position itself in its environment. Each joint is
said to give the robot 1 degree of freedom. So, a simple robot arm with 3 degrees of freedom
could move in 3 ways: up and down, left and right, forward and backward.
Drive:
The drive is the "engine" that drives the links (the sections between the joints into their
desired position. Without a drive, a robot would just sit there, which is not often helpful.
Most drives are powered by air, water pressure, or electricity.
End-Effector:
The end-effector is the "hand" connected to the robot's arm. It is often different from a
human hand - it could be a tool such as a gripper, a vacuum pump, tweezers, scalpel,
blowtorch - just about anything that helps it do its job. Some robots can change end-
effectors, and be reprogrammed for a different set of tasks.

Sensor:
Most robots of today are nearly deaf and blind. Sensors can provide some limited
feedback to the robot so it can do its job.
 Compared to the senses and abilities of even the simplest living things, robots have a
very long way to go.
The sensor sends information, in the form of electronic signals back to the controller.
Sensors also give the robot controller information about its surroundings and let it know
the exact position of the arm, or the state of the world around it.
6. Robot anatomy with neat sketch. Nov/Dec 2011
Robot anatomy is concerned with the physical construction and characteristics of the
body, arm, and wrist, which are the component of the robot manipulator.
- Base.-fixed are mobile
- The manipulator- arm which several degrees of freedom (DOF).
- The end-effector or gripper- holding a part or tool.

Robot anatomy
Drives or actuators – Causing the manipulator arm or end effector to move
in a space.
Controller – with hardware & software support for giving commands to the
drives
 Sensors - To feed back the information for subsequent action of the arm or
grippers as well as to interact with the environment in which the robot is working.
Interface – Connecting the robot subsystem to the external world.

Which consist of a number of component that allowed be oriented in a verity of

position movements between the various components of the body, arm, and wrist are
provided by a series of joints. These joint movements usually involve either rotation or
sliding motions.

7. Types of joints used in robots. Nov/Dec 2010,Apr/May2012

The Robot Joints is the important element in a robot which helps the links to travel in
different kind of movements. There are five major types of joints such as:
Rotational joint
Linear joint
Twisting joint
Orthogonal joint
Revolving joint
Rotational Joint:
Rotational joint can also be represented as R – Joint. This type will allow the joints to
move in a rotary motion along the axis, which is vertical to the arm axes.
Linear Joint:
Linear joint can be indicated by the letter L – Joint. This type of joints can perform both
translational and sliding movements.
These motions will be attained by several ways such as telescoping mechanism and
piston. The two links should be in parallel axes for achieving the linear movement.
Twisting Joint:
Twisting joint will be referred as V – Joint. This joint makes twisting motion among
the output and input link. During this process, the output link axis will be vertical to the
rotational axis. The output link rotates in relation to the input link.
Orthogonal Joint:
The O – joint is a symbol that is denoted for the orthogonal joint. This joint is somewhat
similar to the linear joint. The only difference is that the output and input links will be
moving at the right angles.
Revolving Joint:
 Revolving joint is generally known as V – Joint. Here, the output link axis is
perpendicular to the rotational axis, and the input link is parallel to the rotational axes. As
like twisting joint, the output link spins about the input link.
8. Four types of robot control. Apr/May 2010
1. Point-to-point (PTP) control robot
2. Continuous-path (CP) control robot
3. Controlled-path robot
4. Stop-to-Stop

Point to Point Control Robot (PTP):

The PTP robot is capable of moving from one point to another point. The locations are
recorded in the control memory.
PTP robots do not control the path to get from one point to the next point. Common
applications include:
Component insertion
Spot welding
hole drilling
Machine loading and unloading
Assembly operations

Continuous-Path Control Robot (CP):

The CP robot is capable of performing movements along the controlled path. With CP from
one control, the robot can stop at any specified point along the controlled path.
All the points along the path must be stored explicitly in the robot's control memory.
Applications Straight-line motion is the simplest example for this type of robot.
Some continuous-path controlled robots also have the capability to follow a smooth curve
path that has been defined by the programmer.

In such cases the programmer manually moves the robot arm through the desired path and
the controller unit stores a large number of individual point locations along the path in memory
(teach-in).
Typical applications include:
spray painting
finishing
 gluing
Arc welding operations
Controlled-Path Robot:
In controlled-path robots, the control equipment can generate paths of different
geometry such as straight lines, circles, and interpolated curves with a high degree of
accuracy.
Good accuracy can be obtained at any point along the specified path.
Only the start and finish points and the path definition function must be stored in
the robot's control memory.
It is important to mention that all controlled-path robots have a servo capability to
correct their path.
Stop-to-Stop:
It is open loop system
Position and velocity unknown to controller
On/off commands stored as valve states
End travel set by mechanical

9. Draw the Wrist Motions in detail. Nov/Dec2009