Department of Mechanical Engineering

Subject Code & Name: ORA351& Foundation of Robotics

Answer Key
Part - A
1. What are the applications of industrial Robots?
 Manufacturing
Welding, Material handling, Machining and cutting.
 Automotive
Assembly, Painting and coating.
 Electronics
Assembly, Testing, Soldering and inspection.
2. Examine pay load of a Robots.
Examining the payload of a robot involves considering various factors, including design, actuators, safety features, and
weight distribution. To calculate a robot's payload, we can use the following formula:
Payload (kg) = (Robot's maximum lifting capacity x Safety factor) - Robot's own weight
3. Differentiate between Forward kinematics and reverse kinematics.
Sl. No. Forward kinematics Reverse kinematics

1 Forward kinematics problem is quite straight Reverse kinematics problem is not quite straight
forward. forward like the forward kinematics.
2 Easy to compute The inverse kinematics problem is difficult to solve.

3 Non-linear equation such as sin, cos in matrix

Linear equation
rotation.
4 Non singularities Singularities
5 The existence of unique solution The existence of multiple solution

4. Define Degrees of freedom.

It is defined as number of independent motions that are allowed to the body or, in case of a mechanism made of
several bodies, number of possible independent relative motions between the pieces of the mechanism. In robotics, it
represent the number of independent movements a robot or mechanical system can execute.
5. Why servomotors are preferred with stepper motor in robot applications?
Servo motors are often preferred instead of stepper motors in robotic applications due to their superior performance
in terms of precision, speed, and adaptability.
6. What is a mechanical gripper?
A mechanical gripper is a device used to grasp, hold, and manipulate objects in various industrial, robotic, and
automation applications. It is typically a mechanical assembly that mimics the function of a human hand, with fingers or
jaws that can open and close to grip objects.
7. Differentiate between touch and force sensors.

Aspect Touch Sensors Force Sensors

Detect the presence or absence of contact with Measure the magnitude and direction of a force
Purpose
an object. applied.
 Binary or simple analog (e.g., "touched" or "not Analog or digital values representing the force
Output
touched"). magnitude.

Sensitive to contact but not to the strength of the Sensitive to both the presence and the
Sensitivity
force. magnitude of force.

Working Uses capacitive, resistive, or piezoelectric Uses strain gauges, piezoelectric materials, or
Principle technology to sense contact. capacitive elements to measure force.

More complex as they provide detailed force

Complexity Relatively simpler in design and function.
information.

8. What are the functions of machine vision system?

 Image Acquisition
 Image Processing
 Object Recognition
 Inspection and Measurement
 Data Analysis and Storage
9. What is mean by teach pendant?
A teach pendant is a handheld device used to program, control, and interact with industrial robots or automated
machinery. It serves as an interface that allows operators to "teach" the robot specific tasks by guiding it through desired
movements and operations, which the robot can then replicate autonomously.
10. How are robots used in space missions?
Robots play a crucial role in space missions, performing tasks that are too dangerous, complex, or remote for humans.
Their versatility, durability, and precision make them indispensable for exploring space, building and maintaining
infrastructure, and advancing our understanding of the cosmos.
Part – B
11. (a) Describe any four basic robot configurations with neat sketch.
Based on the coordinate system of motion of the manipulator and end effector, there are four basic configurations of
robots:
1) Cartesian Configuration Robots (LOO)
2) Cylindrical Configuration Robots (TLO)
3) Polar (Spherical) Configuration Robots (TRL)
4) Jointed-Arm (Articulated) Configuration Robots
Cartesian Configuration Robots (LOO)
 Provides three linear motions along three mutually perpendicular axes X, Y, and Z However, there is no rotary
motion
 Configuration provides rectangular work envelope
 Used for assembly, palletizing and machine tool loading

Cylindrical Configuration Robots (TLO)

  Provides two linear and one rotary motions
 Configuration provides cylindrical work envelope, has good work area to floor area ratio
 Used for loading and unloading on machine tools

Polar Configuration Robots (TRL)

 Provides one linear and two rotary motions
 Configuration provides spherical work envelope
 Used for spot welding and manipulation (Handling) of heavy loads.

Jointed-Arm (Articulated) Configuration Robots

Revolute Robots (TRR)
 Provides three rotary motions about three mutually perpendicular axes
 Configuration is similar to that of human arm
 Consists of two straight links, corresponding to the human forearm and upper arm, connected by a rotary joint
 Provides spherical work envelope, has excellent work areas to floor area ratio
 Used to spray painting, seam welding, spot welding, assembly, heavy material handling, etc
SCARA (Selective Compliance Assembly Arm) Robots (VRO)
 Provides one linear and two rotary motions
 Provides cylindrical work envelope with high speed drive motors
 Used for assembly operations
11. (b) i) Classify the industrial robots and briefly describe it.
Classification by Configuration
 Articulated (Jointed) Robots: Have multiple rotary joints that allow for flexible movement.
 Cartesian (Rectangular) Robots: Move in a rectangular coordinate system with three linear axes.
 Cylindrical Robots: Have a rotary axis and two linear axes that move in a cylindrical coordinate system.
 Spherical Robots: Have two rotary axes and one linear axis that move in a spherical coordinate system.
 SCARA (Selective Compliance Assembly Robot Arm) Robots: Have two parallel joints that provide compliance in the
horizontal plane.
Classification by Functionality
 Material Handling Robots: Used for tasks such as loading, unloading, and transferring materials.
 Welding Robots: Used for welding, cutting, and other metalworking tasks.
 Assembly Robots: Used for assembling parts and products.
 Inspection Robots: Used for inspecting and testing products.
 Painting and Coating Robots: Used for applying paint and coatings to products.
Classification by Application
 Manufacturing Robots: Used in manufacturing processes such as assembly, welding, and material handling.
 Logistics Robots: Used in warehouses and distribution centers for tasks such as picking, packing, and shipping.
 Service Robots: Used in service industries such as healthcare, hospitality, and retail.
 Agricultural Robots: Used in agriculture for tasks such as planting, harvesting, and crop monitoring.
Classification by Autonomy
 Automated Robots: Perform tasks autonomously without human intervention.
 Semi-Automated Robots: Perform tasks with some level of human intervention.
 Collaborative Robots (Cobots): Designed to work alongside humans and can be programmed to perform tasks that
require human-robot collaboration.
11. (b) ii) Briefly explain the need for robots in industries.
Productivity: Robots can increase productivity by working continuously and without rest, minimizing downtime.
Quality: Robots can perform precision-based tasks without the risk of errors, resulting in consistent quality in product
manufacturing.
Safety: Robots can perform complex and dangerous tasks, such as working in tight spaces, reduced lighting, or
chemically exposed areas.
Cost savings: Robots can reduce labor costs.
Flexibility: Robots can be specialized for specific tasks.
Human-robot collaboration: Robots can perform repetitive, dangerous, or expensive tasks while humans contribute
their capabilities.
Real-time data: Mobile robots can connect to IoT systems to collect real-time data and optimize production processes.
12. (a) Explain Forward kinematics of manipulators with two degrees of freedom in LL Robot, RR Robot and TL Robot?

12. (b) Find a homogeneous transformation matrix T that represents a rotation of a angle about the OX axis, followed by
a translation 'a' units along the OX axis, followed by a translation of 'd' units along OZ axis, followed by a rotation of 0
angle about the OZ axis.

13. (a) i) With a neat sketch explain the working of an AC servo drive.

13. (a) ii) Explain the working of a stepper motor.

13. (b) Discuss the various types of gripper mechanism with neat sketches.

14. (a) Briefly explain the working principles of proximity sensors with neat sketch.

14. (b) Explain the various techniques in image processing and analysis.

15. (a) Using VAL language, discuss the basic commands and explain the structure of the program for a typical pick and
place operation.

15. (b) Explain the application of robots in material handling tasks. Discuss the advantages robots bring to loading,
unloading, sorting, and packaging operations.
Part – C
16. (a) Derive the forward position kinematics with three degree of freedom by using matrix form.

16. (b) Write a VAL program for pick- and- place operation on the conveyor system. It consists of two conveyors running
parallel with centre distance of 600mm at same level. An industrial robot is fixed centrally between the conveyors. The
robot is used to transfer work pieces from conveyor 1 to 2 at a constant speed. Draw a schematic view of the system.
Assume all necessary dimensions.

Prepared by:

Name: Mr.S.Karthick

Designation: Assistant Professor/Mech BOS Chairperson/HoD