Robotics and its Applications Mid - I, September - 2014

1.A robot with cylindrical configuration has
  • 3P
  • 1R, 2P
  • 2R, 1P
  • 3R
Answer: B
2.In fixed angle representation, the ordering rotation is_____________
  • top to bottom
  • bottom to top
  • left to right
  • right to left
Answer: D
3.Homogeneous transformation is based on mapping 3-dimentional space into ________dimensional space.
  • 1
  • 2
  • 3
  • 4
Answer: D
4.Mapping from Cartesian space to joint space is known as _____________
  • Inverse kinematics
  • direct kinematics
  • dynamics
  • none
Answer: A
5.Based on the coordinate system robots can be classified as_________ robots.
  • Cartesian
  • Spherical
  • Cylindrical
  • a,b & c
Answer: D
6.__________singularities occur when the end–effector is located inside the reachable workspace of the manipulator
  • Interior
  • exterior
  • boundary
  • none
Answer: A
7.Using ___________kinematic equations, one can calculate where the robot is at any instant If all the robot joint variables are known
  • inverse
  • forward
  • a & b
  • none
Answer: A
8.At the end of the arm __________ is attached
  • End –effect
  • gripper
  • wrist
  • a,b,&c
Answer: D
9._____________ representation, rotation is specified about an axis of fixed frame
  • Link angle
  • joint angle
  • fixed angle
  • none
Answer: C
10.The problem of finding the position and orientation of the end-effector with known joint-link parameters is called
  • Inverse kinematics
  • differential matrix
  • singularity
  • forward kinematics
Answer: D
11.Rope and pulley actuation kinematic device used in _________________ gripper.
Answer: MECHANICAL
12.A device that attaches to the wrist of the robot arm and enables the general purpose robot to perform specific task is known as ____________________
Answer: END EFFECTOR
13.The devices used to grasp and hold the objects in a robot are called __________________
Answer: GRIPPER
14.The total number of DOF that rigid body in free space has is _________________
Answer: SIX
15.Power to weight ratio is highest in _____________________ drives.
Answer: HYDRAULICS
16.The term robot has the origin from Czech word _________________________
Answer: ROBATA
17.Expand SCARA____ _____________________________________________
Answer: SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM
18.D-H notation is used for solving ________________________________ problems.
Answer: FORWARD KINEMATICS AND INVERSE KINEMATICS
19._______________model of representation is a very simple way of modeling robot links and joints that can be used for any robot configuration, regardless of its sequence or complexity.
Answer: DENAVIT- HARTENBERG
20.Translational matrix is the representation of ____________ number of basic movement for a robot.
Answer: THREE