Professional Documents
Culture Documents
com
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.
Solution of inverse kinematics problem – multiple solution jacobian work envelop – hill
climbing techniques – robot programming languages
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.Vidyarthiplus.com Page 1
www.Vidyarthiplus.com
TWO MARKS
1. Define a Robot?
RIA defines a robot as a “programmable, multifunction manipulator designed to
Move materials, parts, tools or special devices through variable programmed motions
for the performance of the variety of task”.
3. What is a robot?
Robot is an
• Electro-mechanical device
• Perform various task
• May be human controlled or automated.
• It finds its uses in all aspects of our life
www.Vidyarthiplus.com Page 2
www.Vidyarthiplus.com
www.Vidyarthiplus.com Page 3
www.Vidyarthiplus.com
www.Vidyarthiplus.com Page 4
www.Vidyarthiplus.com
45 encoders
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
www.Vidyarthiplus.com Page 5
www.Vidyarthiplus.com
Disadvantages
• It occupies more space
• Maintenance should be done regularly
6. What is the common imaging device used for robot vision system?
Block and White vidicon camera, charge coupled devices, solid state camera, charge
injection device.
7. What is pixel?
Picture elements are also known as pixels.
9. 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.
www.Vidyarthiplus.com Page 6
www.Vidyarthiplus.com
www.Vidyarthiplus.com Page 7
www.Vidyarthiplus.com
www.Vidyarthiplus.com Page 8
www.Vidyarthiplus.com
35. What are the various techniques in image processing & analysis?
• Image data reduction
• Segmentation
• Feature extraction
• Object recognition
www.Vidyarthiplus.com Page 9
www.Vidyarthiplus.com
www.Vidyarthiplus.com Page 10
www.Vidyarthiplus.com
Advantages
• Pickup time very fast
• Variation in part size can be tolerated. 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
24. Which type of robot is commonly used for pick and place operation?
Cylindrical coordinate robot is commonly used for pick and place operation
www.Vidyarthiplus.com Page 13
www.Vidyarthiplus.com
1. 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.
2. Define statics.
Statics deals with force which acts on the various parts which are assumed to be
rest.
3. 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.
Link of machine may transfer both power and motion
www.Vidyarthiplus.com Page 14
www.Vidyarthiplus.com
www.Vidyarthiplus.com Page 15
www.Vidyarthiplus.com
18. 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
TWO MARKS
4. What is palletizing?
Palletizing is the operation in which the robot picks cartons from conveyor and
places them on to a pallet
5. 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
www.Vidyarthiplus.com Page 17
www.Vidyarthiplus.com
Palletizing Depallatizing
www.Vidyarthiplus.com Page 18
www.Vidyarthiplus.com
constant
www.Vidyarthiplus.com Page 19