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Robotics - QB2 Solved

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9 views17 pages

Robotics - QB2 Solved

Uploaded by

Lakhan Gaddam
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Question Bank for ISE -II

1. A prismatic joint has ———— degree of freedom.

a) one c) three
b) two d) four

2. Work envelope generated by spherical coordinate robot is

a) Sphere c) Rectangular box


b) Cylinder d) Triangle

3. The main function of the robot is

a) Sensing the environment by external sensor


b) Decision making
c) Performing
d) All

4. Robot grippers for industrial robot typically employ —————- actuator.

(a) Pneumatic (c) Electric


(b) Hydraulic (d) Magnetic

5. The process of finding the position of the end effector when the joint variable are known is called

(a) Forward Kinematics (c) Forward Dynamics


(b) Inverse Kinematics (d) Inverse Dynamics

6. When the determinant of the manipulator Jacobian is zero, the configuration of the manipulator is
said to be

(a) Angular (c) Singular


(b) Rectangular (d) Spiral

7. Which of the following sensors is used in robot grippers ?

(a) Optical encoder (c) Force sensor


(b) Tactile sensor (d) Flow sensor

8. For short range distance measurements, which type of sensor in more suitable ?

(a) Tactile sensor (c) Optical sensor


(b) Ultrasonic sensor (d) Laser sensor

9. The process of transforming variables from tool configuration space to joint space is called kine-
matics.

1
(a) Forward (c) Inverse
(b) Inward (d) Reverse

10. Binary sensors have ————- as the contact device.

(a) Fingers (c) Wrist


(b) Micro switch (d) None of these

11. Suction or vacuum grippers are used for ———– objects.

(a) Magnetic (c) Hole


(b) Flat (d) None of these

12. Which type of robot used for assembly purpose ?

(a) Jointed arm (c) SCARA


(b) PUMA (d) None of these

13. Which of the following terms is not one of the basic parts of a robot?

a) Peripheral tools c) Controller


b) End effector d) Sensor

14. The process of finding the position of the end effector when the joint variable
are known is called ————

a) Forward Kinematics c) Forward Dynamics


b) Inverse Kinematics d) Inverse Dynamics

15. The process of transforming variables from joint space to Cartesian space is called ———-

a) Forward Kinematics c) Inverse Kinematics


b) Inward Kinematics d) Reverse Kinematics

16. When the determinant of the manipulator Jacobian is zero, the configuration of the manipulator is
said to be

a) Angular c) Singular
b) Rectangular d) Spiral

17. The process of transforming variables from tool configuration space to joint space is called ——
—— kinematics.

(a) Forward (c) Inverse


(b) Inward (d) Reverse

2
18. The order of the polynomial used for formulating the robot trajectory is usually
a order polynomial.

(a) First (c) Third


(b) Second (d) Fourth

19. What is the name for information sent from robot sensors to robot controllers?

(a) Temperature (c) Feedback


(b) pressure (d) Signal

20. The main objective of industrial robot is ———–

(a) Minimize labor requirement (c) Enhance life of production machine


(b) Increase productivity (d) All of the given

y
P(x , y)

a2

θ2

a1

θ1
x

24. The figure shows a 2 DOF jointed configuration. The lengths of the links a1 and a2 are 300 mm
and 200 mm. If the end of link a2 is to be at point P (300, 300) find the angles made by the links.
If the end point travels at a speed of 100 mm/s in both x and y directions to reach the point P, at
what speed the joint rotate. Choose any one orientation when calculating speeds. Units are in mm.

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