VIVA VOCE QUESTION for ROBOTICS MAIT

1. What are ROBOT`s component?

ANS.1. Manipulator
ANS.2. End Effector
ANS.3. Actuators
ANS.4. Sensors
ANS.5. Controller
ANS.6. Processor
ANS.7. Software
2. What are the types of robot joints?
ANS.1. (P) Prismatic: are the linear i.e. no revolution involved
ANS.2. (R) Revolute: are the rotary.
3. What are ROBOT coordinates?
ANS.1. Cartesian/Rectangular (3P)
ANS.2. Cylindrical (R2P)
ANS.3. Spherical (2RP)
ANS.4. Articulated / Anthropomorphic (3R)
4. What are the ROBOT reference frames?
ANS.1. World reference frame: is a universal coordinate frame defined by x, y , z-axes.
ANS.2. Joint reference frame: is used to specify movements of each individual joint of
the robot.
ANS.3. Tool reference frame:
5. What is pure translation?
ANS.1. If a frame moves in space without any change in its orientation, the
Transformation is known as pure translation.
6. Define PITCH.
ANS.1. Rotation about Y-axis.
7. Define ROLL.
ANS.1. Rotation about Z-axis
8. Define YAW.
ANS.1. Rotation about X-axis
9. Define DEGENERACY.
ANS.1. It occurs when the robot looses a degree of freedom and thus cannot perform
as desired.
10. What causes DEGENERACY?
ANS.1. This occurs under two condition:
i. When the robot`s joints reach their physical limits, and as result, cannot move any
further, and
ii. A robot may become degenerate in middle of its workspace if the z-axis of two similar
joints becomes collinear. This, means that at this instant, whichever joint moves, the
same motion will result.
11. Define DEXTERITY.
ANS.1. One is supposed to be able to position and orientate a six-degree-of-freedom
Robot at any desired location within its work envelope by specifying the position and
the orientation of the hand. However, as the robot gets increasingly closer to the limits
of its workspace, it will get to appoint where although it is possible to locate it at a

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 VIVA VOCE QUESTION for ROBOTICS MAIT
desired point, it will be impossible to orientate it at desired orientation. The volume of
points where one can position the robot as desired, but not orientate it is called
nondexterous volume.
12. What are the actuators?
ANS.1. are the muscles of the ROBOT as if links and joints are the skeleton of the robot.
13. What are the types of actuators?
ANS.1. Following are the types of actuators:
i. Electric motors
a. Servo motors
b. Stepper motors
c. Direct-drive electric motors
ii. Hydraulic actuators
iii. Pneumatic actuators
iv. Magnetostrictive actuators
v. Shape memory metal actuators
14. Characteristics of actuating systems?
ANS.1. Following are the Characteristics of actuating systems:
i. Power-to-weight Ratio,
ii. Operating pressure
iii. Stiffness vs Compliance
iv. Use of reduction Gears
15. Compare Hydraulic actuators, Electric actuators and Pneumatic actuators.
ANS.1. Comparisons:
Hydraulic actuators Electric actuators Pneumatic actuators
1. Good for large robots 1. Good for all sizes 1. No leaks or sparks
2. Good for heavy payloads 2. Reliable 2. Inexpensive and Simple
3. High Accuracy 3. Low Maintenance 3. Good for on-off
application,
4. Better Response 4. Better Control 4. Good for pick and place
5. Not fit for clean room 5. Does not leak, so good for 5. Noisy Systems
application, as may leak. clean room.
6. Requires pump, reservoir, 6. Motor needs braking 6. Require air pressure, filter,
motor, etc. device when not powered. etc.
7. Can be expensive 7. Deform under load
constantly.
8. Can be noisy 8. Inaccurate Response
9. Requires maintenance 9. Lowest power to weight
ratio.
10. High Torque
11. High Pressure

16. What are the Characteristics of sensors?

ANS.1. Following are the Characteristics of sensors:
i. Cost
ii. Size
iii. Weight
iv. Type of output (analog or digital)

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 VIVA VOCE QUESTION for ROBOTICS MAIT
v. Interfacing
vi. Resolution
vii. Sensitivity
viii. Linearity
ix. Range
x. Response Time
xi. Frequency Response
xii. Reliability
xiii. Accuracy
xiv. Repeatability
17. What are the types of sensors?
ANS.1. Following are the types of sensors:
i. Position Sensors
ii. Velocity Sensors
iii. Acceleration Sensors
iv. Force and Pressure Sensors
v. Torque Sensors
vi. Microswitches
vii. Light and Infrared Sensors
viii. Touch and Tactile Sensors
ix. Proximity Sensors
x. Range Finders
xi. Vision Systems
xii. Voice-Recognition Devices
18. What are the types of position sensors?
ANS.1. Following are the types of position sensors:
i. Potentiometers
ii. Encoders
iii. Linear Variable Differential transformers (LVDT)
iv. Resolvers
v. Magneto Reflective Displacement Sensors
19. What are the types of Velocity sensors?
ANS.1. Following are the types of Velocity sensors:
i. Encoders
ii. Tachometers
20. What are the types of Force and Pressure Sensors?
ANS.1. Following are the types of Force and Pressure Sensors:
i. Piezoelectric
ii. Force-Sensing Resistor
iii. Strain Gauges
21. What can we do with this software?
22. Why do we use following commands
ANS.1. Open
ANS.2. Insert
ANS.3. Import

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