Find study materials,Notes,Ebooks online @www.chennaiuniversity.net EE2023 UNIT I ROBOTICS AND AUTOMATION 3003 BASIC CONCEPTS 9 Definition and origin of robotics – different types of robotics – various generations of robots – degrees of freedom – Asimov’s laws of robotics – dynamic stabilization of robots. UNIT II POWER SOURCES AND SENSORS 9 Hydraulic, pneumatic and electric drives – determination of HP of motor and gearing ratio – variable speed arrangements – path determination – micro machines in robotics – machine vision – ranging – laser – acoustic – magnetic, fiber optic and tactile sensors. UNIT III MANIPULATORS, ACTUATORS AND GRIPPERS 9 Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations. UNIT IV KINEMATICS AND PATH PLANNING 9 Solution of inverse kinematics problem – multiple solution jacobian work envelop – hill climbing techniques – robot programming languages UNIT V CASE STUDIES 9 Mutiple robots – machine interface – robots in manufacturing and non- manufacturing applications – robot cell design – selection of robot. TOTAL : 45 PERIODS TEXT BOOKS 1. Mikell P. Weiss G.M., Nagel R.N., Odraj N.G., Industrial Robotics, McGraw-Hill Singapore, 1996. 2. Ghosh, Control in Robotics and Automation: Sensor Based Integration, Allied Publishers, Chennai, 1998. REFERENCES 1. Deb.S.R., Robotics technology and flexible Automation, John Wiley, USA 1992. 2. Asfahl C.R., Robots and manufacturing Automation, John Wiley, USA 1992. 3. Klafter R.D., Chimielewski T.A., Negin M., Robotic Engineering – An integrated approach, Prentice Hall of India, New Delhi, 1994. 4. Mc Kerrow P.J. Introduction to Robotics, Addison Wesley, USA, 1991. 5. Issac Asimov I Robot, Ballantine Books, New York, 1986. www.chennaiuniversity.net Find study materials,Notes,Ebooks online ! Page 1 Name the commonly used robot configuration system? The commonly used robot configuration systems are • Cartesian coordinate system www. What are the rules of robot? • Do not harm being • Obey human being • Protects itself from harm.chennaiuniversity. Each joint provides the robot with one degree of freedom. 2. 3. To reduce production cost • Fast • Accurate • Difficulties in human nature b. Define a Robot? RIA defines a robot as a “programmable. What is mean by automation? Automation is a technology that is concerned with the use of electronic mechanical and computer based system in the operation control and production. Manipulator is constructed of a series of joints & links. multifunction manipulator designed to Move materials. tools or special devices through variable programmed motions for the performance of the variety of task”. What is meant by robot anatomy? Robot anatomy means study of structure of robot. 7.Notes. A joint provides relative motion between the input link and the output link.Ebooks online ! Page 2 .Notes. To avoid 3-D jobs • Dirty • Dangerous • Difficult 6.net UNIT I BASIC CONCEPTS TWO MARKS 1.net Find study materials. parts. What is a robot? Robot is an • Electro-mechanical device • Perform various task • May be human controlled or automated.chennaiuniversity. Why a robot used? a. 5. • It finds its uses in all aspects of our life 4.Ebooks online @ www.Find study materials. chennaiuniversity.chennaiuniversity. A robot must obey any orders given to it by human beings.Ebooks online ! Page 3 .net Find study materials.Notes. What are the types of automation? • Fixed automation • Programmable automation • Flexible automation 9. Write Asimov’s laws of robotics? Three rules written by science fiction author Isaac Asimov and later expanded upon.Find study materials. Write are the Benefits of industrial automation? • Improved product quality • Improved safety • Increased manufacturing flexibility • Improved operation reliability • Improved decision making 10. The Three Laws of Robotics are as follows: I.net • • • Cylindrical coordinate system Polar or spherical coordinate system Revolute coordinate system 8. www. The rules are introduced in his 1942 short story Runaround although they were foreshadowed in a few earlier stories. What is mean by workspace? The space in which the end point of the robot arm is capable of operating is called as a workspace in other words reachabillity of robot arm is known as workspace. 12. A robot may not injure a human being or. II.Notes. III. List the different types of robots? • Robotic Manipulator • Wheeled Mobile Robots • Legged Robots • Underwater Robots • Flying Robots • Robot Vision • Artificial Intelligence • Industrial Automation 11. allow a human being to come to harm. except where such orders would conflict with the First Law. These rules are built in to almost all positronic robots appearing in his fiction and cannot be bypassed.Ebooks online @ www. through inaction. A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. Notes. 16.Find study materials. What is mean by work volume? The volume of the space swept by the robot arm is called work volume 14.Ebooks online @ www. What is repeatability of robot? Repeatability refers to robot’s ability to return to the programmed point when it is commanded to do so.Ebooks online ! Page 4 .chennaiuniversity. 15.net Find study materials. What is meant by precision of robot? It is the smallest increment of motion for which the robot can be controlled 18.net 13. Each joint in a robotic system gives the robot one degree of freedom. What is meant by a accuracy of robot? The robot’s ability to reach a reference point within the robot’s full work volume is known as accuracy of robot. 23. What is meant Degrees Of Freedom? It is described as one of the variables required to define the motion of a body in space.chennaiuniversity. 19. What is meant by pay load capacity of robot? The maximum load which can be carried by the manipulator at low or normal speed 17. What is meant by quality of robot? A robot is said to be high quality when the precision and accuracy is more 20. What are the Subsystems of industrial robot? • Actuators • Transmission systems • Power supplies & power storage system • Sensors • Microprocessors & controllers • Algorithms & softwares (higher level & lower level) 22. Classify the motion control of Robot arm? • Limited sequence control • Point to point control • Continuous path control • Intelligent control 21. How much encoder need for measure 45 degree of freedom? www.Notes. What is meant by work envelop? The work envelop is described by the surface of the workspace. reprogrammability.Ebooks online @ www. State the advantages and limitation of a hydraulic drive? Advantages: • It gives greater speed and strength • It gives highest power to weight ratio www. adjustable kinematics dexterity • Greater response time to inputs than humans • Improved product quality • Maximize capital intensive equipment in multiple work shifts. particularly where eyehand coordination required.net Find study materials.Notes. often less than 5% • Robot structural configurations often constrain joint limits and thus the work volume • Work volume can be constrained even further when parts of substantial size are picked up when tooling/sensors added to the robot • The robot repeatability and/or accuracy can constrain the range of potential application UNIT II POWER SOURCES AND SENSORS TWO MARKS 1. Name the important parts of harmonic drive? The important parts of harmonic drive are • Rigid circular spline with internal teeth • Flex spline with external teeth • Elliptical wave generation 2. • Payload to robot weight ratio is poor.net 45 encoders 24. What are the limitations of robot? Assembly dexterity does not match that of human beings.Find study materials.chennaiuniversity. What are the Advantages and disadvantages of robot? Advantages • Greater flexibility.Notes. Disadvantages • Replacement of human labour • More unemployment • Significant retraining costs for both unemployed and users of new technology • Advertising technology does not always disclose some of the hidden disadvantages 25.Ebooks online ! Page 5 .chennaiuniversity. Notes.Ebooks online ! Page 6 .Find study materials. What are the types of encoder? I. 6. 7. Rotary encoder • Absolute encoder • Incremental encoder 5. What is pixel? Picture elements are also known as pixels. Disadvantages • It occupies more space • Maintenance should be done regularly 3.Notes.chennaiuniversity. Piston motor 4. What is segmentation? Segmentation is the method to group area of an image having similar characteristics or features into distinct entities representing part of the image. What are the types of hydraulic actuator? The types of hydraulic actuators are • Linear hydraulic actuator I. charge injection device.Ebooks online @ www. Double acting double rod cylinder • Hydraulic rotary actuator I.chennaiuniversity. 10.net Find study materials.net • • • • It is used for heavy pay loads It can be used for large working envelope It is safe and reliable to work in wet and dirty conditions It can be used in hazardous environment. charge coupled devices. Linear encoder II. Vane motor III. What is the frame of the vision data? The digital image of the camera is called frame of the vision data 9. Single acting cylinder II. What is the common imaging device used for robot vision system? Block and White vidicon camera. 8. Gear motor II. What is thresholding? www. What is frame grabber? It is hardware device used to capture and store the digital image. solid state camera. Double acting cylinder III. 4. 6. 16.Find study materials. 2. and easy in operation 18. Good Accuracy.chennaiuniversity. High Precision. What is region growing? Region growing is collection of segmentation techniques in which pixels are grouped in regions called grid elements based on attribute similarities 12. 5.Notes. 3.chennaiuniversity. What are the desirable features of sensors? 1. 19.net Find study materials.Ebooks online ! Page 7 .net Thresholding is a binary conversion technique in which each pixel is converted into a binary value either black or white. Sensors in robotics are used for both the internal feedback control and external interaction with the outside environment 15. Wide operating range.Notes. List the different type of tactile sensor? • Digital(Touch) sensor • Analogue (force) sensor www. What is application of machine vision system? • Inspection • Identification • Visual servoing and navigation 14. Good Repealibility. What is sensor? A sensor is an electrical device that transfers a physical phenomenon into an electrical signal. What is the tactile sensor? Tactile sensor is a device which indicates the contact between themselves and some other solid objects. 11. Low cost. What are the basic classifications of sensors? • Tactile sensors • Proximity sensors • Range sensors • Voice sensors etc 17. What is transducer? Transducer is a device which converts the one form of the energy into another form without changing the information content. Instant speed of response.Ebooks online @ www. What are the functions of machine vision system? • Sensing and digitizing image data • Image processing and analysis • Application 13. Ebooks online ! Page 8 .Find study materials. What is the proximity sensor? Sensor which senses the presence or absence of the object without having physical contact between the object 24. What is potentiometer? Potentiometer is an electrical meter to measure the unknown voltage. 23. What is touch sensor? Sensor which senses the presence or absence of the object by having physical contact between the object 21. What are the classifications of a proximity sensor? • Inductive sensor • Capacitive sensor • Ultrasonic sensor • Magnetic sensor 25. What is a vision sensor? It is a advanced sensor system used in conjunction with pattern reorganization and other technique to view and interpret event occurring in the robot work space. 27. What is inspection? It is quality control operation in which the checking of part assembly or products for conformance to certain criteria is specifying by the design engineering department.chennaiuniversity. List the component of the force wrist? • Metallic frame • Bracket for tool mounting • Strain gauges 22.Ebooks online @ www. 28. What is meant by quantisation? www. What is a voice sensor? It is advanced sensor system used to communicate commands or information orally to robot. What is a range sensor? Sensor which sense the range of the object 26. 29. 30.net 20. What is a tactile array sensor? Tactile array sensor is a special type of force sensor composed of a matrix of force sensing elements.Notes.chennaiuniversity.Notes.net Find study materials. chennaiuniversity.Ebooks online ! Page 9 .Ebooks online @ www.chennaiuniversity. What are the phases of A/D conversion? • Sampling • Quantization • Encoding 35.Find study materials. 33.net Each sampled discrete time voltage level is assigned to a finite no of amplitude levels. What is meant by image data reduction? The objective of image data reduction is to reduce the volume of the data 37. What is meant by sampling? The given analog signal is sampled periodically to obtained a series of discrete signals. What is meant by windowing? Windowing involves using only a portion of the total image stored in the frame buffer for image processing and analysis this portion is called window. What are the various techniques in image processing & analysis? • Image data reduction • Segmentation • Feature extraction • Object recognition 36. 32. What are the schemes involved in image data reduction? • Digital conversion • Windowing 38.net Find study materials.Notes. What are the basic lighting devices? • Diffuse surface device • Condenser projectors • Flood or spot projectors • Collimator • Imagers 34.Notes. www. These amplitude levels correspond to gray scale used in the system. What is meant by encoding? Encoding is defined as the representation of an amplitude level by a binary digit sequence. The predefined amplitude levels are characteristic to a particular A to D converter and consist of discrete values of voltage levels is defined by Number of quantisation levels = 2 power n Where n is the no of bits of the A/D converter 31. 40.chennaiuniversity. What is meant by feature extraction? Feature extraction is usually accomplished by means of features that uniquely characterize the object 46.Ebooks online @ www. What are the techniques used in object recognition? • Template matching technique • Structural technique 47.Find study materials. What is meant by structural technique? Structural techniques of pattern recognition consider relationship between the features or edges of an object.Notes.net Find study materials. AC servo motors and stepper motors www. What is meant by template matching technique? Template matching techniques are subsets of the motor general statistical pattern recognition technique 48. 43.net 39. What is meant by segmentation? The object of segmentation is to group areas of an image having similar characteristics or features into distinct entities representing parts of the image 41. What is meant by region growing? Region growing is a collection of segmentation techniques in which each pixels are grouped in regions called grid elements. What is meant by thersholding? Thresholding is the binary conversion technique in which each pixel is converted into a binary value. has meaning that “the system that can be controlled. What are the techniques involved in segmentation? • Thresholding • Region growing • Edge detecting 42.Ebooks online ! Page 10 . What is by digital conversion? Digital conversion reduces the no of gray levels used by the machine vision system.chennaiuniversity.Notes. 49. 44.” The electrical actuators that can be controlled are DC servomotors. What is meant by edge detection? Edge detection considering the intensity charge that occurs in the pixels at the boundary or edge of the part 45. What are the electrical Drives in Manipulators The term servo derived from phrase “to serve”. Classified different types of stepper motor? • Variable reluctance motors ( soft steel rotor) • Permanent Magnet (PM) stepper motor • Hybrid Stepper Motor UNIT III MANIPULATORS. What are the types of mechanism gripper? • Linkage actuation gripper • Gear and rack actuation gripper • Cam actuation gripper • Screw actuation gripper 8.chennaiuniversity.chennaiuniversity.Ebooks online @ www.Find study materials. What is meant by gripper? Gripper is a End effector which can hold or grasp the object 5. What is a stripping device? A device used to remove workspace from the magnetic gripper 7. 2. What are the types of gripper? • Magnetic gripper • Mechanical gripper • Hooking gripper • Vacuum gripper 6. ACTUATORS AND GRIPPERS TWO MARKS 1. What is meant by manipulator? Manipulator is a machine has a function similar to those of the human upper limbs and moves an object spatially from one location to another.net Find study materials. What are the advantages and disadvantages of magnetic gripper? www.net 50.Notes. Define End effector: End effector is a device that is attached to the end of the wrist arm to perform specific task.Ebooks online ! Page 11 . 3. Give some example of robot End effector: • Gripper • Tools • Welding equipment’s • End of arm tooling(EOAT) 4.Notes. The gripper do not have to be designed for one particular work part • They have ability to handle metal parts with holes • They require only one surface for gripping Disadvantages • Residual magnetism • Side slippage • More than one sheet will be lifted by magnet from a stack 9.chennaiuniversity. List the advantages and features of suction cup gripper? • Require only one surface of the part for grasping • Applies uniform pressure distribution on the surface of the part • Relatively a lightweight gripper • Applicable to a variety of different material. www. What is Adhesive gripper? Adhesive gripper in which an adhesive substance performs the grasping action for handling fabrics and other lightweight material are called adhesive gripper 11. Limitation of Adhesive gripper? • Adhesive substance losses his tackiness on repeated usage • Reliability is diminished with successive operations 12.chennaiuniversity.Notes.net Advantages • Pickup time very fast • Variation in part size can be tolerated.Find study materials. 15. Write different types of magnetic gripper? There are two of magnetic gripper • Electromagnetic gripper • Permanent magnet gripper 10.Ebooks online @ www. Give some examples of tool as robot End effector • Shop welding tools • Arc welding tools • Spray painting nozzle • Water jet cutting tool 14.Notes. What is controller? Controller is information processing device whose input are both desired and measurement position. What is transfer function? The transfer function relates the Laplace transformation of the system output to the Laplace transformation of the system input. 13.net Find study materials. velocity (or) other pertinent variables in a process and whose outputs are drive signals to a motor (or) actuators.Ebooks online ! Page 12 . Ebooks online @ www. What is a single arrow? Single arrow indicates the direction of variables and signals in the diagram.chennaiuniversity. List the various actuating mechanism used in mechanical gripper? • Linkage actuation gripper • Gear and rack actuation gripper • Cam actuation gripper • Screw actuation gripper 24. Name some feedback device used in Robotics? • Potentiometer • Resolver • Encoder 23. 22. 21. What is summing junction Summing junctions may have any number of arrows entering but only one leaving 19. What is actuator? • They convert the electrical energy into meaningful mechanical work • Mechanical output can be rotational or linear • Motor provide motion • Electromagnets provide linear motion 18.net 16.Notes.Ebooks online ! Page 13 . What do you meant by material transfer application? Material transfer application are defined as operation in which the primary objective is move a part from one location to another location www. What is a take point? Take of point permit signals and variables to be shared among more than a single component 20.Find study materials.net Find study materials. Which type of robot is commonly used for pick and place operation? Cylindrical coordinate robot is commonly used for pick and place operation 25. Write control techniques of robot? All industrial robots are either servo or non-servo controlled • Non servo (open loop) control • Servo (closed loop) control 17.Notes.chennaiuniversity. What is a functional block? Function block represents one of the components of the system and contains the transfer function for the component. another one proportional to integral of error signal and the third one proportional to derivative of error signal. • Transformation of frames introduced to make modelling the relocation of object easier.Ebooks online @ www. www. 3. Write about transformation.chennaiuniversity.net 26. Manipulator kinematics is connected with the position and orindation of the robot’s end of arm or end effector attached to it as a function of time but without regard for the effects of force (or) mass. Statics deals with force which acts on the various parts which are assumed to be rest. What is link? A link may be defined as a member (or) a combination of member of mechanism connecting other members and having motion to them. What is pick and place operation? Pick and place operation involved tasks in which the robot picks the part at one location and move it another location 27. 7. Link of machine may transfer both power and motion 4. 6.Ebooks online ! Page 14 .Find study materials. • An object is described with respect to a frame located in the object. Define manipulator kinematics. What is reverse kinematics? It is a scheme to determine the position of the robot in the world coordinate system by knowing the joint angles and the link parameter of the robot. and this frame is reloaded with transformation. What is kinematics? Kinematics will enable us to calculate what each joint variable must be if we desire the hand to be located at a particular point and have a particular orientation.chennaiuniversity. UNIT IV KINEMATICS AND PATH PLANNING TWO MARKS 1. 2. What is forward kinematics? It is a scheme to determine joint angle by robot knowing its position in the world coordinate system 5.Notes. What is meant by PID control? The PID controller produces an output signal consisting of three terms-one proportional to error signal. Define statics.net Find study materials.Notes. chennaiuniversity. What are ways of accomplishing lead through programming? • Power lead through • Manual lead through 15.Ebooks online ! Page 15 .Ebooks online @ www. • Most robot calculated the position of their hand using kinematic model of their arm.Notes.chennaiuniversity. Euler angle representation 10. What are the methods of robot programming? • Lead through methods • Texual robot languages • Mechanical programming 14. Write steps to drive kinematics model? 1) Assign D-H coordination frame 2) Find link parameter 3) Transformation matrices of adjacent joints 4) Calculate kinematic matrix 5) When necessary. There is currently no simple method for measuring the location of the robot hand.Find study materials. What is teach pendent? The teach pendant is usually a small handheld control box with combinations of toggle switches. 9. dials and buttons to regulate the robot’s physical movements and program capabilities. 16. Give a method to salve inverse kinematic problems? • Closed form (or) Analytical solutions • numerical solutions 12. What are the methods of teaching? • Joint movement • X-Y-Z coordinate motions • Tool coordinate motion www. Give a method to salve forward kinematic problems? Denavid-Hartenberg conversion 11.net 8. • Before a robot can move its hand to an object must be located relative to it.Notes. What is the principle of vacuum cup? The principle used in vacuum pump and venture 13.net Find study materials. Explain kinematic model. Find study materials.Notes. 20.net Find study materials. Write end effector command • OPEN • CLOSE • OPEN I • CLOSED I 24.chennaiuniversity. What are the basic mechanisms of legged robot? • Slider • Liver 18. variables • Motion command • End effector and sensor command • Computation and operations.chennaiuniversity. The purpose was to advance the state of the art in automated batch assembly.Ebooks online @ www. When a robot singularity will occurs? A robot singularity occurs when robot axes are redundant (more axes then necessary to cause the same motion) or when the robot is in certain configurations that require extremely high joint rates to move at some nominal speed in Cartesian space 22. UNIT V CASE STUDIES www. What are the benefits that can be obtained with a legged robot? • Better mobility • Better stability on the platform • Better energy efficiency • Smaller impact on the ground 19. Write the different type of kinematics analysis of mechanism? • Graphical Position Analysis Method • Algebraic Position Analysis of Linkages • Complex Algebra Method for Position Analysis 21.Notes. Write the two modes of lead through programming? • Teach mode • Run mode 23. • Constant.Ebooks online ! Page 16 . What is APAS? Adaptable programmable system was developed by national science foundation & westing house Electric Corporation. The three basic modes of operations are • Monitor mode • Run mode • Edit mode 25. State that robot language element.net 17. List out basic modes of operation in robot language structure. 2. What are the different types of material handling operation? • Picking and placing • Palletizing and depalletizing • Machine loading and unloading • Parts feeding . What is meant by SCARA? SCARA is a robot – This also has a cylindrical work space. What is depalletizing? Depalletizing operation is the reverse of palletizing operation in which the robot removes cartons from the pallet and places them on to conveyor or other location 6.Ebooks online ! Page 17 . RRP main body.chennaiuniversity. What is palletizing? Palletizing is the operation in which the robot picks cartons from conveyor and places them on to a pallet 5. Write some industrial application of robot? a).net TWO MARKS 1. What are the benefits of industrial robot? Industrial robot offers the following benefits • Increase productivity • Improve product quality • More consistent product quality • Reduce scrap and waste • Reduce reworking costs • Reduce raw goods inventory • Direct labour cost saving • Saving in overhead cost such as lighting.Notes. Material handling application • Material transfer application • Machine loading/unloading application b).Ebooks online @ www. storage and retrival • Sorting of the parts from conveyors www. Such robots were used to assemble the SONY Walkman.chennaiuniversity. Processing application • Welding • Painting • Assembly • Inspection 3. heating and cooling 4.Find study materials.net Find study materials.Notes. chennaiuniversity. What are parts feeding. ROBOT SCHEDULING 13.Notes. MARKETING. What is the interpretation of manufacturing system? Manufacturing system is defined as the system which converts the input into a ` suitable output 10. The delivery point is different b. FEM. Write down some elements of CIM? LAN.Notes. Differentiate palletizing and depalletizing Palletizing Depallatizing a. plan the product. What is pallet? Pallet is a storage area which consists of a number of cells to store workpiece of different size 15. COMPUTER AIDED DESIGN. Database. What are the gantry robots? If the robots are mounted over head they are called gentry robots 8. QC. How the workpieces are fed to the robot by some mechanical feeding device? The workpieces are fed to the robot by some mechanical feeding device or conveyor in a known location and orientation 9. ANALYSIS.chennaiuniversity. Define the term “CIM” The term CIM denotes the use of computer pervasive use of computer system to design the product.Ebooks online @ www.net 7. CNC. storage and retrieval process? • Parts feeding means feeding the part to the machine • Storage means storing different types of object in the pallet • Retrieval is the process of taking the object from the pallet 14. What are the technologies used in manufacturing system? • Computer aided design/computer aided manufacturing • FMS • CIM • AGILE • LEAN 11.Ebooks online ! Page 18 .Find study materials. TOOL DESIGN. The pickup point is different b. control the operations and perform the various business related function 12. The delivery point is www.net Find study materials. The pickup point is constant a. They are made two main components • The bowl • The vibrating base 20.Notes.Notes. If possible this difficulty factor should be consider in the design of product • Another consideration in the design of an assembly is the direction in which the parts are to be added in the assembly operation www.Find study materials. Defined part presentation. Application of robot in loading and unloading? • Die casting • Injection moulding • Forming.net Find study materials. Basic configuration of assembly systems? • A single workstation assembly • A series of work station assembly • Combination of both 22. In order to perform an assembly task the part that is to be assembled must be presented to robot this is part presentation 19. • Certain assembly tasks are very difficult for the robot to perform than others.chennaiuniversity. Explain bowl feeders? Bowl feeders are devices used for feeding and orienting small parts in automated assembly operations.net constant 16. stamping • Trimming process 17.chennaiuniversity. What are the types of assembly operation? • Parts mating • Parts joining 21. What is assembly? • The term assembly is defined to mean the fitting of two or more discrete parts to form a new subassembly 18.Ebooks online ! Page 19 .Ebooks online @ www. Explain designing for robot assembly.