COB 4113: ROBOTIC INTELLIGENT SYSTEMS

UQF 8
PREPARATION QUESTIONS

1.
a) Define a robot. With help of sketch describe pitch, yaw and roll motion of a robot wrist.
A robot is a machine—especially one programmable by a computer—capable of
carrying out a complex series of actions automatically.

b) Discuss the origin and various generations of robots. Sketch and explain the work
envelope of a cylindrical robot.
The earliest robots as we know them were created in the early 1950s by George
C. Devol, an inventor from Louisville, Kentucky. He invented and patented a
reprogrammable manipulator called "Unimate," from "Universal Automation." For
the next decade, he attempted to sell his product in the industry, but did not
succeed.

First generation

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A first-generation robot is a simple mechanical arm. These machines have the ability to
make precise motions at high speed, many times, for a long time. Such robots find
widespread industrial use today. First-generation robots can work in groups, such as in
an automated integrated manufacturing system (AIMS), if their actions are
synchronized.

Second generation

A second-generation robot has rudimentary machine intelligence. Such a robot is

equipped with sensors that tell it things about the outside world. These devices include
pressure sensors, proximity sensors, tactile sensors, radar, sonar, ladar, and vision
systems. A controller processes the data from these sensors and adjusts the operation
of the robot accordingly.

Third generation

The concept of a third-generation robot encompasses two major avenues of evolving

smart robot technology: the autonomous robot and the insect robot. An autonomous
robot can work on its own. It contains a controller, and it can do things largely without
supervision, either by an outside computer or by a human being. A good example of
this type of third generation robot is the personal robot about which some people
dream. There are some situations in which autonomous robots do not perform
efficiently. In these cases, a fleet of simple insect robots, all under the control of one
central computer, can be used. These machines work like ants in an anthill, or like bees
in a hive while the individual machines lack artificial intelligence (AI), the group as a
whole is intelligent.

Fourth generation and beyond

Any robot of a sort yet to be seriously put into operation is a fourth generation robot.
Examples of these might be robots that reproduce and evolve, or that incorporate
biological as well as mechanical components.

Cylindrical robot

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2.
c) Define the terms accuracy and cycle time in relation to a robot.
Accuracy is the ability of a robot to move its end effector to a desired position and
orientation that has never been attained before.”
Cycle time is the time it takes for the robot arm to travel up 1 inch, go across 1 foot,
travel down 1 inch, and come back through the same path.

d) Sketch and explain the joints and degree of freedom of a jointed arm robot.
 The joints (also called axes) are the movable components of the robot that
cause relative motion between adjacent links.
 The degrees of freedom of a robot typically refer to the number of movable
joints of a robot.

3.
a) Compare the various attributes of robot with those of human being. Explain a robot
structure with a sketch.
Humans are organic beings, while robots are not.
Humans are far more complex and superior to robots in almost all aspects.
Humans are highly social beings compared to robots.

b) What are the various types of joints used in robots? Sketch the following robots
indicating the joints and degree of freedom.
i. SCARA robot. ii) Gantry robot.
Types of joints
 Linear joint (L). The relative movement between the input link and the output
link is a linear sliding motion, with the axes of the two links being parallel.
 Orthogonal joint (O). This is also a linear sliding motion, but the input and
output links are perpendicular to each other during the move.

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  Rotational joint (R). This type provides a rotational relative motion of the joints,
with the axis of rotation perpendicular to the axes of the input and output links.
 Twisting joint (T). This joint also involves a rotary motion, but the axis of rotation
is parallel to the axes of the two links.
 Revolving joint (V). In this joint type, the axis of the input link is parallel to the
axis of rotation of the joint, and the axis of the output link is perpendicular to the
axis of rotation.
SCARA Robot

Cartesian/ Gantry Robot

4. REPEATED QUESTION
a) Define a robot. Is robotics an automation? Discuss the various types of joints used in
robots.
b) Discuss the various generations of robots. Sketch and explain the typical
configuration and degrees of freedom of wrist assembly.

5.
a) What is the work envelope of a robot, Sketch and explain two views to indicate the
work envelope of a

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 i) Cartesian robot.
 Robots with Cartesian configurations consists of links connected by linear
joints (L).
 (3L) Three linear movements
ii) Polar robot.
 Spherical shaped work envelope
 (2R1L) Two rotations, one linear extension
 Generally, the arm is connected to the base with a twisting (T) joint and
rotatory (R) and linear (L) joints follow.

b) Explain the concept of accuracy and repeatability of a robot. What are the different
configurations of robots? Which of these configurations would be most suitable for
i) Placing an object in an oven for heat-treatment.
ii) Painting a motor car body.

Accuracy
•The ability of a robot to go to the specified position without making a mistake.
•It is impossible to position a machine exactly.
Repeatability
•The ability of a robot to repeatedly position itself when asked to perform a task multiple
times.

Configurations of Robotics
1. Cartesian configuration
2. Cylindrical configuration
3. Polar configuration
4. Joint-arm configuration
For painting a motor car body is Cartesian Configuration
For placing an Object in an oven for heat-treatment is Joint-arm Configuration
6.
a) What are the basic components of a robotic system? Explain the functions of each of
the components with a neat sketch.
 Central Processing Unit.
 Sensors.
 Actuators.
 End-Effectors.
 Power Supply.
 A Program

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 b) State the laws of robotics and discuss the various mechanical design considerations of
robots.

7. Write short notes on any about the following

a) Asimov’s laws of robotics.
First Law: A robot may not injure a human being, or, through inaction, allow a human
being to come to harm.
Second Law: A robot must obey orders given it by human beings, except where such
orders would conflict with the First Law.
Third Law: A robot must protect its own existence as long as such protection does not
conflict with the First or Second Law.

b) Degrees of freedom.
The degrees of freedom of a robot typically refer to the number of movable joints of
a robot.
8.
a) What is robot vision? Describe a vision sensor used to take the image of an object.
robot vision is a sophisticated technology that helps a robot, usually an automated
robot, better identify things, navigate, find objects, inspect, and handle parts or bits
before an application is performed.
Vision sensors are the monochrome model, and the color model.

b) Discuss response, accuracy and sensitivity in relation to robot sensors. Explain the
working of proximity and range sensors.
Proximity sensors - Detect the presence of a nearby object within a given distance,
without any physical contact.
Range sensors - suited for distance measurement. Includes Ultrasonic and Infrared
distance sensors.

9.
a) What are the advantages of hydraulic actuator systems over electrical motors? Explain
a pneumatic power drive used for robots.
Used for the small type robots, which have less than five degrees of freedom. It has
the ability to offer fine accuracy and speed. This drive system can produce rotary
movements by actuating the rotary actuators.

b) What are the functions of sensors? How do you sense the positional accuracy of a
robot? Describe the suitable type of sensor used to measure the position.

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 A sensor is a device that converts a physical phenomenon into an electrical signal.
 Awareness of surroundings.
 Allow interaction with environment.
 Protection & Self-preservation.
Sensor used to measure the position.
o Digital Magnetic Compass
o Localization

10.
a) Discuss the advantages and disadvantages of different types of actuators. Explain the
working of hydraulic actuator system.
Actuator - Muscles of the manipulators, common types of actuators are servo
motors, pneumatic.

Here are the advantages of a hydraulic actuator.

 Easy to control and accurate
 Simpler and easier to maintain
 Constant torque or force regardless of speed changes
 Easy to spot leakages of system
 Less noise
Disadvantages of the hydraulic actuator.
 Proper maintenance is required
 Expensive
 Leakage of the fluid creates environmental problems
 Wrong hydraulic fluid for a system can damage the components
Advantages of pneumatic actuators
 Clean, less pollution to the environment
 Inexpensive
 Safe and easy to operate
Disadvantages of pneumatic actuators
 Loud and noisy
 Lack of precision controls
 Sensitive to vibrations

Advantages of electric actuators

-access to energy will find it easier,

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 -faster transmission signal,
-the signal transmission distance, in order to concentrate on operating control;
-accuracy,
-sensitivity is relatively high,
-and other electric adjustable instrument with convenient and easy to operate,
-simple to install wiring

Disadvantages of pneumatic actuators

-The initial cost is greater than that of pneumatic and hydraulic actuators.
-They are not suitable for all conditions, whereas a pneumatic actuator is safe in
hazardous and flammable areas.
-The electric motors can be large.

b) Discuss the functions of gripper with the help of a sketch. Explain the working of
magnet grippers used for robots.
End effectors may consist of a gripper or a tool. The gripper can be of two fingers,
three fingers or even five fingers.

11.
a) How is a robot end-effector specified? Discuss the design considerations in the robot
end-of-the-arm tooling.
End Effector - This is the part that generally handles objects, makes connection to
other machines or performs the required tasks.
b) What is the function of a manipulator? Discuss the working of a robotic manipulator
arm with a sketch.
Manipulator: Electromechanical device capable of interacting with its environment. It
is a hand of a Robot.

12. Write short notes on any about the following

a) Magnetic grippers.
Magnetic grippers are most commonly used in a robot as an end effector for grasping
the ferrous materials.
b) Vacuum Grippers.
Vacuum grippers are used in the robots for grasping the non–ferrous objects.

13.
a) Write short notes on teach pendant.

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 A control box for programming the motions of a robot. The robot is set to "learning"
or "teach" mode.

b) Explain the various features of robot programming languages

 automatic 3D world models
 task level programming (e.g. "move that box over here") and
 a dynamic understanding of the environment.

c) Write down the basic types of robot programming.

d) Explain the manual lead through programming in robot application.
the robot’s end effector is moved physically by the programmer at the desired
movements.
e) Discuss the various programming methods used in robotics with examples and features
of each.
 Teaching pendant
 Simulation/ Offline programming
 Teaching by Demonstration