MDM-II Question Bank with Answers

UNIT-I: Introduction to Industrial Robotics

1. 1. Define robot and classify different types of robot

A robot is a programmable, multifunctional manipulator designed to move materials, parts,

tools, or specialized devices through variable programmed motions.
Types:
- Articulated robots
- SCARA robots
- Cartesian robots
- Cylindrical robots
- Polar (Spherical) robots
- Delta robots
- Collaborative robots (cobots)

2. 2. Define robot and explain various components

Components:
- Manipulator: Provides motion (arm + wrist)
- End Effector: Tool attached (e.g., gripper, welder)
- Actuators: Convert control signals to mechanical motion
- Sensors: Feedback for control (vision, proximity)
- Controller: Brain of the robot (CPU + software)

3. 3. Explain types of robot joints with notations

Types of joints:
- Revolute (R): Rotational movement
- Prismatic (P): Linear movement
Notations: R, P, RP, RRP, etc.

4. 4. Explain robot configurations with joint notations

Common configurations:
- Cartesian (PPP)
- Cylindrical (RPP)
- Spherical (RRP)
- Articulated (RRR...)
- SCARA (RRP)

5. 5. Explain configurations, work envelope, and applications

Configurations and Work Envelopes:

- Cartesian: Rectangular; ideal for CNC machines
- SCARA: Cylindrical; good for assembly
- Articulated: Spherical; flexible tasks
- Delta: Dome-shaped; high-speed pick & place

6. 11. How robotics improves productivity?

Robots can work 24/7, with high consistency and precision. They reduce waste, increase
speed, and minimize downtime.

7. 12. Does robotics make manufacturing effective?

Yes. Robotics enhances manufacturing by improving repeatability, reducing errors,

increasing safety, and allowing for scalable production.

8. 13. How do robots improve productivity and quality?

Robots ensure high accuracy, reduce variability, enable precision in operations, and
integrate inspection systems for quality control.

9. 14. Role of robotics in manufacturing industries

Used for welding, painting, assembly, inspection, and packaging. Increases speed, reduces
labor costs, and ensures product consistency.

10. 15. Role of robotics in automobile industries

Used in body assembly, painting, parts handling, and quality inspection. Enhances safety
and production throughput.
11. 16. Role of robotics in pharmaceutical industries

Ensures sterile handling, accurate dispensing, sorting, and packaging. Reduces human
contact and increases regulatory compliance.

12. 17. Role of robotics in healthcare industries

Used in surgery (precision), diagnostics, rehabilitation, and logistics. Improves efficiency,

reduces errors, and enhances outcomes.

13. 18. Role of robotics in agriculture industries

Automates seeding, irrigation, harvesting, and monitoring. Improves yield, reduces labor,
and enables precision farming.

UNIT-II: Robot Motion Analysis and Control, End Effectors

14. 1. Discuss Robot Kinematics

Kinematics studies robot motion without considering forces. It includes:

- Forward Kinematics (FK): Calculates end effector position from joint parameters.
- Inverse Kinematics (IK): Calculates joint parameters from desired end effector position.

15. 2. Derive FK and IK for 2 DOF RR Robot

Let L1, L2 be link lengths; θ1, θ2 joint angles:

FK:
x = L1*cos(θ1) + L2*cos(θ1 + θ2)
y = L1*sin(θ1) + L2*sin(θ1 + θ2)
IK involves geometric or algebraic methods to find θ1 and θ2 from x and y.

16. 3. Compute end effector position: L1=500 mm, L2=350 mm, θ1=45°, θ2=30°

x = 500*cos(45°) + 350*cos(75°) ≈ 444.3 mm

y = 500*sin(45°) + 350*sin(75°) ≈ 691.0 mm

17. 4–5. Find joint inclinations for given wrist position (L1=350, L2=250, L3=50)
1. Calculate wrist point by subtracting L3 from final position.
2. Use inverse kinematics to determine joint angles.
3. Compute θ3 from φ - (θ1 + θ2).

18. 6. Role of robot end effector in industry

End effectors interact with the environment for gripping, welding, painting, measuring, and
assembly.

19. 7. Define End Effector & Types of Grippers

End effector: Tool on robot wrist. Types:

- Mechanical (jaw)
- Suction (vacuum)
- Magnetic
- Adhesive
- Soft grippers

20. 8. Define End Effector & Types of Tools

Tools: Welding torches, screwdrivers, spray guns used for tasks like welding, painting, and
machining.

21. 9. Types of Path Motion Control

1. Point-to-Point (PTP): Discrete moves

2. Continuous Path (CP): Smooth path
3. Controlled Path: Combines PTP and CP

22. 10–13. Path control for specific tasks

Spray painting: Continuous Path

Spot welding: PTP
Arc welding: Continuous Path
Pick and place: PTP
UNIT-III: Sensors in Robotics and Machine Vision
23. 1. Define Sensor and Role in Robot

A sensor detects physical input (light, pressure, etc.). Robots use sensors for feedback,
navigation, safety, and task execution.

24. 2. Types of Sensors in Robots

1. Tactile
2. Proximity
3. Range
4. Vision
5. Position
6. Environmental

25. 3. Internal Sensors

Used to monitor robot’s own state:

- Joint encoders
- Torque sensors
- Gyroscopes

26. 4. External Sensors

Used to detect environment:

- Proximity
- Vision
- Force/torque
- Laser scanners

27. 5–8. Sensors for specific operations

Pick & place: Proximity, force

Spray painting: Distance, vision
Arc welding: Vision, position
Spot welding: Force, contact

28. 9. Sensors for Position Measurement

Optical encoders measure angular displacement. Sketch: Rotating disc with slots and light
sensor.

29. 10. Touch & Proximity Sensors

Touch: Detect physical contact

Proximity: Detect object presence using IR or ultrasound

30. 11. Optical Encoder Working

A slotted disc rotates between LED and photodetector. Interruptions create pulses used to
track position.

31. 12–15. Analyze system and discuss sensor usage

Depends on task. For pick and place, use proximity and force sensors. For welding, use
temperature, vision, and torque sensors.

UNIT-IV: Robot Programming and Languages

32. 1. Types of Robot Programming

1. Manual (Teach Pendant)

2. Lead-through
3. Offline Programming
4. Simulation-based
5. Text-based programming

33. 2. Conventional Programming Types

Teach Pendant, Lead-through, Offline, and Simulation-based Programming

34. 3. VAL II Programming Commands

MOVE, SPEED, DELAY, GRIP, RELEASE — used to control PUMA robots.

35. 4. RAPID Programming Commands

MoveL, MoveJ, WaitTime, SetDO — used with ABB robots.

36. 5–6. VAL II Program Example

SPEED 40
MOVE P1
SPEED 10
GRIP
MOVE P2
SPEED 10
RELEASE

37. 7–12. Path Motion Control (Repetition)

Spray painting: Continuous

Spot welding: Point-to-Point
Arc welding: Continuous
Pick & place: Point-to-Point

38. 13. ABB RAPID Program for Arc Welding

PROC ArcWeld()
SpeedData v40;
MoveL pStart, v40, z0, toolWeld;
ArcStart;
MoveL pEnd, v10, z0, toolWeld;
ArcEnd;
ENDPROC

39. 14–15. VAL II Program for Loading & Unloading

SPEED 40
MOVE P1
SPEED 10
GRIP
MOVE P2
SPEED 10
RELEASE