PBR VISVODAYA INSTITUTE OF TECHNOLOGY

AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING
Class : IV B.Tech (I sem) (objective type BITS)
UNITS: I,II,III,IV
ROBOTICS
1. Technology that is concerned with the use of mechanical, electronic and
computer based systems in the operation and control of production
a). Mechanization b). Automation c). Industrialization. d). all the above.
2. Highly integrated transfer lines comes under type of automation.
a), programmable b). Flexible c). Fixed d). (a) & (b)
3. Type of control used in Bang - Bang robot.
a), servo b). non-servo c). None of the above d). all the above.
4. SCARA robot is used in. applications.
a).quality control b).assembly. c).defense. d). all the above.
5. Following is the robotic like device.
a). Telecherics. b). exo-skeleton c). locomotive device d). all the above.
6. Number of linear co-ordinates in a cylindrical co-ordinate robot.
a). 2 b). 3 c). 1 d). 0
7. Work volume of a spherical robot
a), cylinder b). paraboloid c). sphere d). cube
8. Wrist motions of the robot among the following.
a), yaw b). pitch c). roll d). all the above.
9. The attractive feature of SCARA robot
a), more tolerance b). Selective compliance c). Accuracy d).
Repeatability
10. Type of control used in Cartesian robot.
a), servo b). non-servo c).pneumatic d). hydraulic
11 . ……………….type of robot uses feed back from the control system
a), non-servo b). servo c). (a) & (b). d). Pneumatic
12 Type of robot used in spray painting applications
a), point to point b).bang-bangc). end point d). continuous path
13. Preferred robot system for load carrying applications
a), hydraulic b). Pneumatic c). Electrical d). Mechanical
14. Interface between the last link of the manipulator and the end effector is called
a), critical joint b). Gripper c). Wrist d). Tool flange
15. Preferred robot system for high repeatability applications
a), cylindrical b). Cartesian c). spherical d). any of the above
16. Type of robot used in transferring the object
a), point to point b).bang-bangc). end point d). continuous path
17. Type of robotic like device used in undersea applications
a).Telecherics. b). exo-skeleton c). locomotive device d). prosthesis
18. The shape of work volume of a cylindrical robot is....
a), paraboloid b). sphere c). cylinder d). cube
19. Number of polar co-ordinates in a jointed arm configuration
a). 2 b). 3 c). 1 d). 0
20. Type of robot used in grinding applications.
a), point to point b).bang-bangc). end point d). continuous path
21. the technical name of a hand attached to the wrist of the robot
a), gripper b). end effector c). joint d). any of the above

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 22.....................................................................................................................the
arm and the body joints
of the manipulator are used to...............................the end effector
a), orient b). position c). shake d). any of the above.
the robot configuration, which is used in high reach applications
a), polar b). jointed armc). spherical d). (a) & (b).
high repeatability applications of Cartesian configurations is due to
a), linear joints b). high stiffness of links c). its rigid structure d). all the
above.
25..................................................................................................."piston movement inside the engine
cylinder" is..................................................type of joint.
a), prismatic b). rotational c). twisting d). revolving
26. Interface between the last link of the manipulator and the end effector is called
a), critical joint b). Gripper
c). Wrist d). Tool flange / too mounting plate.
27. The intelligence which is required to control the manipulator will be provided by
a), sensor b). controller c). Sequencer d). Synchronizer.
28. The device which is used to interpret the data stored in a memory of a
robot.
a), sensor b). controller c). Sequencer d). Synchronizer.
29. The device which is used to hold or grasp the object
a), end effector b). gripper c). (a) or (b). d). none of the above.
30. "Only one surface required to grasp or hold the object" by
a), vacuum gripper b). magnetic gripper c). adhesive gripper d). any of the
above.
31.......................................................................Magnetic gripper is used only for materials.[
a), stainless steel b). non-ferrousc). ferrous d). plastic
32. Ability of the wrist socket to yield elastically, when subjected to a force is
called......................................................................................................
a), elasticity b). stiffness c). strength d). compliance.
33. Remote Centered Compliance ( RCC ) devices are used in applications.
a), assembly b). defense c). undersea d). mining
34. Number degrees of freedom exhibited by robot wrist
a). 1 b). 2 c). 3 d). 4
35. Type of robot used in spot-welding applications.
a), point to point b).sequential c). end point d). continuous path
36. Type of drive used for larger robots
a), electrical b). mechanical c). pneumatic d). hydraulic
37. Type of power used in robot for precision work applications
a), electrical b). mechanical c). pneumatic d). hydraulic
38. Smallest increment of the movement into which the robot can divide its work
volume
a), control resolution b). spatial resolution c). repeatability d). accuracy
39. Mechanical inaccuracy among the following
a), gear backlash b). leakage of hydraulic fluid
c). stretching of pulley cards d). all the above.
40. Relation between spatial resolution, control resolution and mechanical
inaccuracies is
a) , spatial resolution = control resolution + mechanical inaccuracies
b) . spatial resolution = control resolution - mechanical inaccuracies
c) . spatial resolution = control resolution x mechanical inaccuracies
d). spatial resolution = control resolution -r mechanical inaccuracies

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 PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE,
KAVALI
DEPARTMENT OF MECHANICAL ENGINEERING
Class : IV B.Tech (I sem) Descriptive type)
UNITS: I,II,III,IV
ROBOTICS

1. Write a detailed notes about Flexible Automation, with applications. [16]

2. Explain use of Robots in the fields of welding and painting. [16]
3. Explain with the neat diagram how Robot can be gainfully employed in the
inspection methods of component made in large number. [16]
4. (a) Why are Robots used in a flexible manufacturing cells? [8]
(b) What advantages are derived by its use in the cell? [8]
5. (a) What is industrial automation? Compare hard automation with soft
automation. [8]
(b) Describe the advanced technological features and applications of
modern robots? [8]
6. (a) Give the classification of robots by coordinate system and describe the
features of each type. [8]
(b) Discuss the advantages and disadvantages of using the robots in
industry.[8]
7. (a) Give the classification of robots based on control system and describe
their
characteristic features. [8]
(b) Describe the present day industrial applications of robots. [8]
8. Name any three types of end effectors for robots. State the advantages of
each?[16]
9. With the aid of a sketch describe the mounting of a spot welding electrodes
on a robot wrist. [16]
10. Illustrate a robot gripper with [5+5+6]
(a) cam operated
(b) gear operated
(c) lever (links) operated fingers
10. Name five different types of robot end effectors. Compare and contrast the
end effectors from the viewpoint of their functions. [16]
11. (a) Briefly describe the various robot components. [10]
(b) Define ‘degrees of freedom’. How do you calculate the degrees of
freedom of a robot Manipulator? [6]
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12. (a) Dicuss briefly about the grippers and give its classification. [8]
(b) Show the degrees of freedom for the following joints with the help of
neat
sketches [8]
(i) Prismatic joint
(ii) Revolute joint
(iii) Cylindrical joint
(iv) Spherical joint
(v) Planar joint
(vi) Screw joint
13. (a) Explain the selection criteria of end-effectors in robotics. [8]
(b) Describe the common types of robot arms. [8]
14. (a) Describe the degrees of freedom of a robot wrist with the help of a neat
sketch. [8]
(b) Describe the common types of robot arms. [8]
15. Suppose ‘R’ represents a rotation of 900 about yo followed by a rotation of
450 about z1. Find the equivalent axis/angle to represent ‘R’. Sketch the
initial and final frames and the equivalent axis vector ‘k’ [16]
16. For the point auvw = (6, 2, 4)T perform following operations. [5+5+6]
(a) Rotate 300 about the X axis, followed by translation of 6 units along Y
axis.
(b) Translate 6 units along Y axis, followed by rotation of 300 about X axis.
(c) Rotate 600 about Z axis followed by translation of 10 units along the
rotated U axis.
17. Define rotation transformation and explain how to represent the
transformation for rotation of an angle ‘θ’about x , y and z-axis.
18. (a) Define Translation transformation and explain how the coordinate of the
vector changes.[8]
(b) A point P (5,5) lies in a 2-D reference frame. The point has to move along
the line at an angle 450 for a distance of 10 units. What are the coordinates
of the final position of the point?
19. (a) Find the transformation matrices for the following operations on the
point k ˆ 3 - j ˆ 9 i ˆ 4 + .
i) Rotate 45o about x-axis and then translate 3 units along zaxis.
ii) Translate -4 units along x-axis and rotate 60o about x-axis. [8]
(b) State and prove the properties of a rotation matrix. [8]
20. (a) Determine a matrix T that represents a rotation of _ angle about x- axis,
followed by a translation of b units of distance along the z-axis, followed by
a
rotation of _ angle about the y-axis. [8]
(b) Find the transformation matrices for the following operations on the
point
3i+7j+5k
i) Rotate 45o about x-axis and then translate -5 units along y-axis.
ii) Translate 7 units along y-axis and rotate 60o about x-axis.
21. (a) Determine the homogeneous transformation matrix to represent the
following the sequence of operations:
(i) rotation of 45o about x-axis
(ii) translation of 6 units along x- axis
(iii) translation of –3 units along z-axis
(iv) rotation of 30o about y-axis [8]
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22. (a) Find the rotation matrix corresponding to the set of Euler angles ZYX [6]
(b) Compute the rotation matrix to represent a rotation of 90o about an
arbitrary vector 3i+7j+5k [6]
(c) Verify that a rotation matrix Rk that describes the elementary rotation, _
about an axis k follows the property, Rk(- _) = Rk(_). [4]
23. Considering a jointed arm robot manipulator with its x, y and z axes aligned
with a reference Cartesian co-ordinate frame but located at {x, y} = {3 mt,
-2 mt} the end of arm of the robot is currently at {x, y, z} = {4 mt, 1 mt, 2
mt} relative to the reference co-ordinate frame. As end effector is 0.5 mt in
length is attached to the end of arm is pointing vertically down. Relative to
the tip of the end effector is a cube with 15 mm on a side and with its
nearest corner positioned 0.5 mt in the x direction 1 mt in y direction and 0
mt in z direction from the tip of the end effector. For the above description
make the sketch of work volume cell. [16]
24. Write and explain the algorithm for deriving the forward kinematics for any
manipulator based on D-H convention.
Perform the forward transformation for the five axis Microbot using the following
data.
Link a α θ d
1. 0 -90 θ1 d1
2. a2 0 θ2 0
3. a3 0 θ3 0
4. a4 + 900 θ4 0
5. 0 0 θ5 d5
26. (a) Explain the different techniques for finding the Inverse kinematics for
any manipulator. [8]
(b) Derive the forward kinematics equation using the DH convention for the
three link planar manipulator. [8]
27. What is a forward kinematics problem? Explain Denavit-Hartenberg
convention for selecting frames of reference in robotic application. [16]

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING
Class : IV B.Tech (II sem) (objective type BITS) UNITS: V,VI,VII,VIII
ROBOTICS
1. Jacobin is the method of control of ……in a co-ordinate fashion. [ ]
(a). controller (b). Sequencer (c). Manipulator (d). Sensor
2. Jacobian relates the velocities of joints to the velocities of ……………….
[ ]
(a). Tool point (b). Manipulator (c). Joint d). None of the above.
3. Jacobian is a time varying quantity [ ]
(a). False for all (b). True for all (c). Can’t say (d). Some times.
4. if A- is a non-singular square matrix, then A-I = ……………….
[ ]

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 (a). adjA X detA (b). adj A + detA (c). adjA ÷ detA (d). detA ÷ adjA
5. dynamic model of a robotic arm can be studied by [
]
(a). Newtonian Laws (b). Lagrangian Laws (c). Eularian Laws (d). all the
above.
6. ………..representation has been used to describe the special displacement between
two links [ ]
(a). Identity Matrix. (b). Null Matrix. (c). D-H Matrix.(d). none of the above.
7. Lagrangian Function L= f( Kinetic Energy, Potential Energy )=…………
[ ]
(a). KE + PE (b). KE – PE ©. KE ÷ PE (d). PE ÷KE
8. Measure of mass distribution…………………….. [
]
(a). Radius of gyration (b).acceleration
(c). moment of inertia (d). any of the above.
9. Inertia Tensor characterizes the …………..distribution of the body in space
[ ]
(a). velocity (b).acceleration (c). Strength (d). Mass.
10. inertia tensor for a rectangular body will depends on its [
]
(a). Length (b). Breadth (c). Height (d). All the above.
11. the theorem used to relate the inertia tensor of one frame to another
[ ]
(a). Pythagoras theorem (b). Parallel Axes theorem
(c). Super position theorem (d). any of the above.
12. Newton – Euler formulation is used to analyze the ……behavior of the manipulator.
[ ]
(a). Static (b). Dynamic (c). Kinematic (d). Kinetic.
13. Use of dynamic equations of motion of robot arm [
]
(a). in computer robotic simulation. (b). in the design of control
equations.
©. To evaluate the kinematic structure of robot arm. (d). all the above
14. Dynamic equations of motion of robot arm allows [
]
(a). Analysis (b). Synthesis (c). Simulation (d). All the above.
15. In Lagrange – Euler Equation [ ]
Where
 
d  ∂L  ∂L L – Lagrangian function = KE – PE
 * 
− * = .......... ..( i =1,2,3,......... ....... n)
dt  ∂q  ∂q qi – Generalised co-ordinate
(a). Velocity
i 
(Vi)i (b). Acceleration (ai)
(c). Torque (Ti) (d). None of the above
16. Generalization of scalar moment of inertia………………….. [
]
(a). Polar moment of inertia (b). Inertia tensor
(c). Centre of mass (d). None of the above.
17. in Inertia Tensor. all the elements are……………….. [
]
(a). Zeros (b). Zeros Except diagonal elements (c). Ones (d). Can’t say
18. Euler’s equation gives [ ]
(a). Force acting on the body (b). Velocity of the body
©. Acceleration of the body (d). Torque acting on the body
19. Newton’s equation gives the relationship between [
]
(a). Torque, mass, jerk (b). Force, mass, acceleration
©. Power, force, velocity (d). Energy, mass, velocity

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20. Differential change in the manipulator can be computed by……………….
[ ]
(a). Jacobian (b). Inverse Jacobian
(c). Any of the above (d). None of the above.
21 Trajectory planning satisfies………… [ ]
a) Only path constraints
b) Only path specifications
c) Only dynamic constraints
d) All the above.
22 An N-joint manipulator will have………….number of trajectories.
[ ]
a) N
b) (N+1)
c) (N-1)
d) (N+2).
23 Quaternion Representation of a trajectory is generally used for [
]
a) Closed mechanics
b) Special mechanics
c) (a) and (b)
d) None of the above.
24 If S is a scalar part of Q and V=ai+bj+ck then unit quaternion is equal to S+
ai+bj+ck
Where S2+a2+b2+c2=…………… [ ]
a) 0
b) a
c) 1
d) 2
25 example for power transmission system [
]
a) pulley
b) gear
c) screw
d) all the above
26 type of actuator used in robot to move sizable loads
[ ]
a) hydraulic
b) pneumatic
c) electrical
d) mechanical
27 type of actuator used in over damped applications. [
]
a) hydraulic
b) pneumatic
c) electrical
d) mechanical
28 type of actuator used in PICK and PLACE robot. [
]
a) hydraulic
b) pneumatic
c) electrical
d) mechanical
29 the stepper motor can be operated in [ ]
a) closed loop manner
b) an open loop manner

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 c) (a) and (b)
d) none of the above.
30 Most costly actuator [ ]
a) hydraulic
b) pneumatic
c) electrical
d) mechanical
31 The actuator which gives high positional accuracy [
]
a) hydraulic
b) pneumatic
c) electrical
d) mechanical
32 Stepper motor works based on the principle of [
]
a) Minimum reluctance
b) Maximum reluctance
c) Minimum resistance
d) Maximum resistance.
33 If S is a scalar part of Q and vector V=ai+bj+ck then (S-V) is……… of Q
[ ]
a) Normal
b) conjugate
c) reciprocal
d) none of the above
34 Path end points can be specified in………….. [ ]
a) Joint co-ordinates
b) Cartesian co-ordinates
c) (a) and (b)
d) none of the above
35 An N-joint manipulator will have………….number of trajectory segments [
]
a) 3N
b) 5N
c) (a) and (b)
d) none of the above
36 mathematical functions used in trajectory planning problems.
[ ]
a) Fourier
b) laplace
c) polynomial
d) all the above.
37 Methods used in straight line trajectory planning. [
]
a) Cartesian path control
b) bounded deviation joint path
c) (a) and (b)
d) none of the above
38 product of two quaternion is a [ ]
a) scalar
b) vector
c) quaternion
d) none of the above
39 characteristic of Pneumatic actuator [ ]
a) under damped applications
b) fast movements

8
 c) accurate movements
d) all the above
40 discrete motion of the manipulator possible by [
]
a) hydraulic
b) pneumatic
c) stepper motor
d) mechanical

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING
Class : IV B.Tech (II sem) DESCRIPTIVE TYPE UNITS:
V,VI,VII,VIII
ROBOTICS

1. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate robot.
[16]
2. Explain Direct and Inverse dynamics with a block diagram applied to a simple task.
[16]
3. A manipulator with a single link is to rotate from θ (0) = 300 to θ (2) = 1000 in 2
seconds. The joint velocity and acceleration are both zero at the initial and final
positions. [16]
(a) Determine the co-efficients of a cubic polynomial that accomplishes the motion.
(b) Determine the co-efficients of a quartic polynomial that accomplishes the motion and
(c) Determine the co-efficients of a quintic polynomial that accomplishes the motion.
4. Under what conditions a hydraulic motor is preferred, compared to stepper or DC
servomotor. Briefly explain the functioning of a hydraulic motor. [16]
5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate robot.
[16]
6. Derive the expression for joint torques for a planar R-P robotic manipulator using
Lagranze-Euler formulation. [16]
7. An automated guided vehicle has to be designed to aid visually disadvantages
people. What strategy would you adopt to avoid obstacles and path planning?[16]
8. (a) Explain various devices used as position sensors in robots. [8]
(b) Discuss any one device that can be used as velocity sensor in robot. [8]
9. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate robot.
[16]
10. In the re cursive Newton Euler equations of motion referred to its own link co
ordinate frame, the matrix (iRo Ic oRi)is the inertial tensor of link i about the ith co
ordinate frame. Derive the relationship between the matrix and the pseudo inertica
matrix Ji of the Lagrange - Euler equations of motion. [16]
11. (a) What are the conditions under which a position sensor is preferred versus encoder
based systems? Where are encoders placed with respect to drive system and where
are position sensors placed? Can both the systems be used on the same robot? [12]

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(b) Why are absolute encoders preferred?
12. Consider a two-link robot arm and assume that each link is 1 m long. The robot arm
is required to move from an initial position (xo, yo) = (1.96, 0.50) to a final position (xf
, yf ) = (1.00 , 0.75). The initial and final velocity and acceleration are zero.
Determine the co-efficients of a cubic polynomial at each joint to accomplish the
motion. [16]
13. Under what conditions a hydraulic motor is preferred, compared to stepper or DC
servomotor. Briefly explain the functioning of a hydraulic motor. [16]
14. (a) Discuss robot trajectory planning? [8]
(b) Explain the general guidelines for planning a joint interpolated motion trajectory. [8]
15. (a) Explain the control loops using current amplifier for the robot joint motions
mentioning the response equations involved. [8]
(b) What is path planning and explain why path planning is required for a robotic
system. [8]
16. (a) Explain the Lagrange Euler’s formulation for robot arm. [8]
(b) Differentiate clearly with reference to 2- jointed manipulator of RR type and LL type.
[8]
17. Trajectory planning and motion control determines the type of actuator required,
explain three different systems, one with hydraulic, one with pneumatic and one with
electrical actuator. Provide detailed justification. [16]
18. Explain a 3-5-3 trajectory plan to represent a pick and place movement for an
assembly operation. [16]
19. Explain the different types of actuators that can be used for the robot joints. [16]
20. Distinguish clearly between forward Newton - Euler equations and Forward Newton-
Euler equations and backward Newton euler Equations, with a simple example.[16]
21. (a) What is path planning? Explain the need for path planning. [6]
(b) Differentiate between path planning and trajectory planning. [4]
(c) What are the drawbacks of incremental encoders? [6]
22. (a) Draw the figure of a hydraulic system of robot and show how the out put shaft
velocity is proportional to the flow of the oil in motor-pump combination for a
hydraulic system. [10]
(b) Compare and contrast hydraulic and Electrical actuators. [6]

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