PART - A

Answer All Questions

1.

2.

3.

4.

5.

6.

7.

8.

9.

The region throughout which a robot arm can accomplish tasks is called its [U, C,
CO1]
A) Coordinate geometry
B) Reference axis
C) Work envelope
D) Reference frame
A manipulator is also known as a [R, C, CO1]
A) Track drive
B) Robot arm
C) End Effector
D) Vision system
Joint arm robot configuration is given by the notation [U, C, CO2]
A) TRL
B) TLL
C) TRR
D) TRT
Which of the following terms refers to the use of compressed gasses to drive
(power) the robot device? [A, C, CO3]
A) Pneumatic
B) Hydraulic
C) piezo electric
D) Electric
The ability of a robot to position its end at a desired target point within its reach is
called as [U, C, CO1]
A) Accuracy
B) Repeatability
C) Spatial resolution
D) Control resolution
To lift a flat glass which one of the gripper suits better [An, C, CO2]
A) Mechanical Grippers
B) Magnetic Grippers
C) Vacuum cups
D) Adhesive Grippers
Interface between the last link of the manipulator and the end effector is called [U,
C, CO1]
A) Critical joint
B) Gripper
C) Wrist
D) Tool flange
The gripper must be designed to exert a force which is given by [R, C, CO2]
A) nfFg=wg
B) wgFg=nf
C) nfw=Fg
D) gFg=w
The applications of manual lead through programming [R, C, CO3]
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A) Machine loading and unloading

B) Spray painting
C) Inspection
D) Continuous operation
10. The command used to execute the End effector operation of robot in VAL
programming [U, C, CO3]
A) APPRO P1,Z1
B) SPEED V IPS
C) DEFINE PATH 1
D) CENTER
PART - B
With Answer All Questions
21. State the three laws of Robotics [U, F, CO1]
22. A robot with 1 degree of freedom which slides with a full range of 1.0m and has a
12-bit storage capacity. Determine the control resolution for this axis of motion.[U, F,
CO1]
23. Define Robot Cell layout. [R, F, CO2]
24. List two examples of tool as Robot end effectors. [A, C, CO3]
25. The kinematic study of robot is an important. Justify? [An. C, CO2]
PART - C (5 x 12 = 60 Marks)
31.a) Explain the five classification of robot based on its configuration with neat (12 )
sketch [U, C, CO1].
(OR)
31.b) Differentiate the forward and reverse transformation with example. [An, C, (12)
CO2]
32.a) Illustrate with neat sketch about various mechanical gripper actuation

(12 )

mechanism [U, C, CO1]

(OR)
32.b) Frame [2] is rotated with respect to frame [1] about the x-axis by an angle
of 500. The position of the origin of frame [2] with respect to frame [1] is D 2 (6)
= [5.0,6.0,8.0]T.

(6)

1) Determine the transformation matrix T2, which describes frame [2]

relative to frame [1].
2) Find the description of point P in frame [1] if P 2=[3.0,4.0,5.0]T. [E, C,
CO2]
33.a) Represent the capabilities and limitations of lead through programming
methods. [U, C, CO1]
(OR)
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(12)

33.b) Discuss the Motion commands used in robots with examples. [U, C, CO2]

(6)
(6)

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