Department of Mechanical Engineering

ME8099 - ROBOTICS
Important Questions
Unit-1
PART-A
1. Name the commonly used robot configurations.
The Commonly used robot configurations are: Cartesian coordinate system, cylindrical coordinate system, Polar
spherical coordinate system and revolute coordinate system.
2. Name the important parts of harmonic drive?
The important parts of harmonic drives are: Rigid circular spline with internal teeth. Flex spline with external teeth
and Elliptical wave generator.
3. Sketch the revolving joint and show the relative joint motions.

4. What is RIA Definition of 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 tasks.
5. State the advantages and limitations of 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.
Disadvantages: It can be used in hazardous environment.
6. What are the types of hydraulic actuators?
The types of hydraulic actuators are:
Linear hydraulic actuators: Single acting cylinder, Double acting cylinder, Double acting double rod cylinder.
Rotary Actuators: Gear motor, Vane motor, and Piston motor.
7. What is meant by work space?
The space in which the end point of the robot arm is capable of operating is called as Work space in other words
reach ability of robot arm is known as workspace.
8. What is meant by work volume and work envelope?
The volume of the space swept by the robot arm is work volume.
The work envelope is described by the surface of the work space.
9. What is meant by Accuracy of the robot? The ability
of the robot to reach a reference point within the robot’s full work volume (how close the measurement is to the
actual) is known as accuracy of the robot.
10. What is meant by precision of Robot?
The ability of the robot to reach the reference points repeatedly with accuracy.
11. What is meant of resolution of the robot?
The smallest increment/decrement of motion for which the robot can be controlled is termed as resolution.
12. What is meant by repeatability of robot?
Repeatability refers to the ability to return to the programmed point when it is commanded to do so again and again.
13. What is meant by quality of Robot?
A robot is said to of very high quality if its precision and accuracy are more.
14. Classify the motion control of robot arm?
Limited Sequence Control, Point to Point control, Continuous path control, Intelligent Control.
15. What is meant by pay load capacity of Robot?
The maximum load which can be carried by the manipulator at low or normal speed is called payload capacity.
16. State the advantages and limitations 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.
17. What is robot anatomy?
Robot anatomy is the study which deals with the construction and components of a robot. It deals with the
components such as body, arm, wrist and joints of a robot.
18. List out the types of joint notations?
Linear Joint (L), Rotational Joint(R), Twisting Joint (T), Revolving Joint(V), Orthogonal Joint(O).
19. What is meant by Pitch, Yaw, and Roll?
Pitch is rotation around X axis -up and down movement, Yaw is around the Y axis - side to side swing around an axis
and roll is around the Z axis-is rotary motion about an axis.
20. Define base and tool coordinate system.
The base coordinates system are defined on the main robot mounting-flange. Its origin O is the projection of
the axis of rotation of the first axis onto the plane of the robot base, The tool coordinate system has its origin at the
clamping point of the tool.
 Part – B
1. Write in detail about the Robot Anatomy and wrist assembly with neat sketch?
Robot Anatomy:-
A robot anatomy is concerned with the physical construction and characteristics of the body, arm
and wrist which are the component of the robot manipulator. It is a study of skeleton of robot (or)
physical part. It has the following parts.

Base - It is the bottom portion of the robot. Mostly it is fixed or movable.

Manipulator- It has arm and wrist. It is also called as assembly of links and joints which has
several degrees of freedom. It is used for moving the tools in the work volume and adjust the
tools End-effector or gripper- holding a part/ work piece or tools
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.
Joints- it is used to connect two links or arms and to perform sliding, rotating, twisting and
revolving movements of the arms.

Manipulator Design Requirements

The majority classification of manipulators are
• Number of degrees of freedom (The no. of DOF should match the no. of required task)
• Work envelope ( Space within which the manipulator can manipulate the end of the wrist)
• Load Capacity ( Structure, power transmission and actuators)
 • Speed ( Position, velocity, acceleration and cycle time)
• Repeatability and accuracy (Static characteristics, Resolution and etc.)

• Manipulator consists of joints and links

– Joints provide relative motion
– Links are rigid members between joints
– Various joint types: linear and rotary
– Each joint provides a “degree-of-freedom”
– Most robots possess five or six degrees-of-freedom
• Robot manipulator consists of two sections:
– Body-and-arm – for positioning of objects in the robot's work volume
– Wrist assembly – for orientation of objects.
WRIST ASSEMBLY:
The three degree of freedom wrist assembly
Pitch: up and down motion of wrist

Yaw: left right rotation of wrist

Roll: rotating about horizontal axis of wrist
Wrist assembly is attached to end-of-arm, End effector is attached to wrist assembly, Function
of wrist assembly is to orient end effector, and Body-and-arm determines global position of end
effector. Two or three degrees of freedom: Roll, Pitch and Yaw. Notation: RRT
2. Discuss in detail about the parts and function of robot with neat sketch?

ROBOT PARTS and their FUNCTIONS:

ROBOT ACCESSORIES

A Robot is a system, consists of the following elements, which are integrated to form a whole:
Manipulator / Rover: This is the main body of the Robot and consists of links, joints and
structural elements of the Robot.
End Effector: This is the part that generally handles objects, makes connection to other machines,
or performs the required tasks. It can vary in size and complexity from end -effector on the space
shuttle to a small gripper. 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.
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.
Actuators: Actuators are the muscles of the manipulators. Common types of actuators are
servomotors, stepper motors, pneumatic cylinders etc.
Sensors: It is defined as a sensory device coverts physical parameters into electrical signal. Sensors
are used to collect information about the internal state of the robot or to communicate with the
outside environment. Robots are often equipped with external sensory devices such as a vision
system, touch and tactile sensors etc., which help to communicate with the environment. 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 lets it know
the exact position of the arm, or the state of the world around it.
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.
• The controller receives data from the computer, controls the motions of the actuator and
coordinates these motions with the sensory feedback information
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.

3.Explain briefly about the robot specification?

ROBOT SPECIFICATION:
Accuracy: Capacity to position the wrist at a target point in the work volume. One half of the
distance between two adjacent resolution points. Affected by mechanical inaccuracies.
Manufactures don‘t provide the accuracy (hard to control). The ability of a robot to go to the
specified position without making a mistake. Closely related to spatial resolution.
Repeatability: Ability to position back to a point that was previously taught. Ability to position a
wrist back to the previously visited point. Repeatability errors form a random variable. Mechanical
inaccuracies in arm, wrist components. Larger robots have less precise repeatability values.
Resolution: The smallest increment of motion or distance that can be detected or controlled by the
robotic control system. It is a function of encoder pluses per revolution and drive ratio. It is
dependent on the distance between the tool centre point and the joint axis.
Spatial Resolution: It is an ability of the robot to break down its movements into increments.
Increments=2n, Where, n=Number of bits in control memory, Spatial resolution=Range/ 2 n
Example: A robot controller has 12-bit storage capacity, the full range of the robot=1.0m for one
joint , Spatial resolution= 1.0m/4096=0.244mm.
Envelope: The three dimensional shape that defines the boundaries that the robot manipulator can
reach, also known as reach envelope.
Reach: The maximum horizontal distance from the centre of the robot base to the end of its wrist.
Maximum Speed: A robot moving at full extension with all joints moving simultaneously in
complimentary directions at full speed. 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 maintain precision. These ratings are highly dependent on the size and shape of the payload
due to variation in inertia.
Pay load = End Effector Weight + Part Weight
Payload Capability Of Robot: A maximum load which can be carried by the manipulator at low
speed.

Offset: Point of action for the tool mounted to the robot tool plate or tool centre point.
Duty Cycle: Ratio of run time to total operational time that a robot can continuously work at the
rated payload without overheating the robot specifications.
Quality of robot: A robot is said to be high quality, when the precision and accuracy is more.
Work Envelope of the Manipulator: It is defined as the envelope or space within the robot can
manipulate the end of the wrist. A robot‘s work envelope is its range of movement. The shape of the
reachable work area of the robot. These distances are determined by the length of a robot arm and
the design of its axes. Each axis contributes its own range of motion. Robot can only perform within
the confines of this work envelope.
Work Volume: The volume of the space swept by the robot arm is called work volume. The robot
tends to have a fixed and limited geometry. The work envelope is the boundary of positions in space
that the robot can reach.
Work Space: In which the end point of the robot arm is capable of operating is called as work
space. It defined by the geometry of the robot; i.e., Cartesian, cylindrical, spherical, revolute.
Reach Envelope: A three dimensional shape that defines the boundaries that the robot manipulator
can reach.
Maximum Envelope: The envelope that encompasses the maximum designed movements of all
robot parts, including the end effector, work piece and attachments.
Restricted Envelope: It is that portion of the maximum envelope which a robot is restricted by
limiting devices.
Operating Envelope: This is the operating zone or area of the robot, while performing its
programmed motions.
Robot Selection: Size of class, DOF, Velocity, Drive type, Control mode, Repeatability, lift
capacity, weight of robot.

4.Explain in detail about the robot configuration with neat sketch?

ROBOT CONFIGURATION:
Basically the robot manipulator has two parts viz. a body-and-arm assembly with three degrees-of-
freedom; and a wrist assembly with two or three degrees-of-freedom. For body-and-arm
configurations, different combinations of joint types are possible for a three-degree-of-freedom
robot manipulator. Five common body-and-arm configurations are outlined below:
Cartesian configuration

It is also known as rectilinear robot and x-y-z robot. It consists of three sliding joints, two of which
are orthogonal O-joints. Cartesian manipulators has 3 perpendicular axes which define a
rectangular work volume. Simplest configuration, move in linear, prismatic manner.
Notation: LOO
Advantages: high accurate and speed, less cost, simple operating procedure, high pay loads
Disadvantages: less work envelope, reduced flexibility.
Application: assembly, surface finishing, inspection.
Types: Cantilevered Cartesian, Gantry style
Cantilevered Cartesian – good repeatability, accuracy, less work envelope. Used for light
weight loads.
Gantry style Cartesian used for heavy loads less accuracy.
Cylindrical Configuration
It consists of a vertical column. An arm assembly is moved up or down relative to the vertical
column. The arm can be moved in and out relative to the axis of the column. Common
configuration is to use a T-joint to rotate the column about its axis. It can reach the workspace in a
rotary movement as like a cylinder. An L-joint is used to move the arm assembly vertically along
the column, while an O-joint is used to achieve radial movement of the arm.
Notation: TLO
Advantages: increased rigidity, high pay loads, easy to program off-line, good repeatability and
accuracy
Disadvantages: less work volume, floor space required is more
Application: loading and unloading, conveyor pallet transfers, material handling.

Polar configuration
It consists of a sliding arm L-joint, actuated relative to the body, which rotates around both a
vertical axis (T-joint), and horizontal axis (R-joint). It has one linear and two rotary joints that
allows the robot to operate in a spherical work volume.
Notation: TRL
Advantages: long reach capacity in the horizontal plane, simple design, high payloads, light weight,
easy to program, good precision
Disadvantages: vertical reach is low, lower mechanical rigidity, more sophisticated control system,
large variable torque on joints that gives the counter balance problem, positional error
Application: injection moulding, forging, machine tool loading, material transfer.
Jointed-arm robot
It is similar to the configuration of a human arm. It consists of a vertical column that swivels about
the base using a T-joint. Shoulder joint (R-joint) is located at the top of the column. The output link
is an elbow joint (another R joint). It gets three rotary joints and three wrist axes which forms into 6
DOF.

Notation: TRR
Advantages: long reach capacity in the horizontal plane, huge work volume, increased flexibility,
quick operations.
Disadvantages: very expensive, difficult operating procedures, more components
Application: automatic assembly, in-process inspection, machine vision, painting and welding
SCARA
Its full form is ‗Selective Compliance Assembly Robot Arm'. It is similar in construction to the
jointer-arm robot, except the shoulder and elbow rotational axes are vertical. It means that the arm
is very rigid in the vertical direction, but compliant in the horizontal direction.
Robot wrist assemblies consist of either two or three degrees-of-freedom. A typical three-degree-of-
freedom wrist joint is depicted in Figure. The roll joint is accomplished by use of a T-joint. The
pitch joint is achieved by recourse to an R-joint. And the yaw joint, a right-and-left motion, is
gained by deploying a second R-joint.
The SCARA body-and-arm configuration typically does not use a separate wrist assembly; its usual
operative environment is for insertion-type assembly operations where wrists joints are
unnecessary. The other four body-and-arm configurations more-or-less follow the wrist-joint
configuration given above, by deploying various combinations of rotary joints type R and T.

A Selective Compliant Assembly Robotic Arm (SCARA) manipulator has been developed with
rotary hydraulic actuators for industrial automation. The robotic arm is mounted on a vertical
column which has an 'I'-shaped cross section. .
Advantages: long reach capacity in the vertical plane, huge work volume, increased flexibility,
quick operations.
Disadvantages: very expensive, difficult operating procedures, more
components Application: automatic assembly, in-process inspection, machine
vision
5.Compare and table the various features for the industrial application of robot.

The Industrial application of robot:

Application Degrees Structure Drive Program Nature of Task Control systems

of system
Freedom
Material 3-5 Jointed Servo Programmable Safe/hazardoR Motion
Handling Adaptable motors Automation us Controllers with
Robot arm Control (PAC) Complicated Sensor
Technology.
Part loading 4-5 Polar, Electronic Programmable Complicated Micro controller
and Multiple Cylindrical Servo Automation and and Motion
unloading arms Jointed arm Motors Control (PAC) safe Controller with
(Adoptable) (For heavy environments vision.
loads)
Spot 5-6 Polar Electronic Programmable Simple and Microcontroller
welding Jointed Stepper logic safe with Changeable
adaptable motors Controllers functions
robotic arm (PLC)
Arc Welding 5-6 Polar Direct Programmable Complicated Continuous path
modular drive servo Automation and unsafe motion
Cartesian motors and Control controllers with
with sensor
adaptable Technology.
jointed arm
Spray 6 or Jointed arm Hydraulic Programmable Simple and Continuous path
Coating more with Actuators automation unsafe motion
adoptable control with controllers
gun controller area
Network
Electronic 3-6 Jointed Stepper Programmable Complicated Microcontroller,
Assembly Multiple adaptable, motors and automation and safe nodes with
arms Cartesian direct control with sensors and end
coupled modular Drives controller area effectors with
motion robotic arm Network vision systems.
Automobile 3-6 Jointed arm Electrical Programmable Complicated Microcontroller,
Assembly Multiple Cartesian and automation and safe nodes with
arms SCARA powered control with sensors and end
coupled lead controller area effectors with
motion Through Network vision systems

Other areas of applications include:

1. Biomedical applications – Surgical

 a. Probe to detect cancer
b. Drug development
c. Research and development
2. Space exploration –space vehicles, Example: Rover robots along with path
finder in Mars
3. Defence – Surveillance Robots and Combat machines.
4. Mining – exploration, search and rescue, tunnelling for main road
ways, operations in short passages
5. Municipal services- fire fighting, underground(dangerous gas), sewer clearing
6. Undersea - oil/mineral exploration, salvage operations
7. Nuclear – maintenance of atomic reactors.