Robotics Mid - I, September - 2014

1.Based on finger movement, Mechanical gripper can be classified as __________
  • pivoting movement
  • linear or translational movement
  • a & b
  • none
Answer: C
2.A Spherical coordinate robot should have ________ joints
  • one revolute and two prismatic
  • three prismatic
  • two revolute and one prismatic
  • a,b& c
Answer: C
3.A _____________ connects two or more links.
  • Joint
  • actuator
  • sensor
  • none of the above
Answer: A
4.A manipulator with 6 DOF is_________________
  • 1-D Manipulator
  • 2-D Manipulator
  • 4-D Manipulator
  • Spatial Manipulator
Answer: D
5.Which of the following is the person who wrote the three laws of robotics?
  • Karel Capek
  • Isaac Asimov
  • Joseph-Marie Jacquard
  • Richard Hohn
Answer: B
6.Homogeneous transformation is based on mapping 3- Dimensional space into__________ dimensional space.
  • 1
  • 2
  • 3
  • 4
Answer: D
7.A transformation matrix must be in _________________ form.
  • triangle
  • upper triangular
  • square
  • not square
Answer: C
8.The following coordinate systems are used to find Forward Kinematics and Inverse Kinematics equation for position analysis.
  • Cartesian
  • Cylindrical
  • Spherical
  • all the above
Answer: D
9.The following systems are used to find forward and Inverse Kinematics Equations for Orientation:
  • Roll, Pitch, Yaw (RPY) angles
  • Euler angles
  • Articulated joints
  • all the above
Answer: D
10.D-H cannot represent any motion about the y-axis., because all motions are about the x- and z-axis.
  • X - axis
  • y- axis
  • z- axis
  • none of the above
Answer: B
11.The non-servo system is also called as __________OPEN__________ loop control system.
Answer: Open
12.A _______________ is a reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices through variable programmed motions for the performance of a variety of tasks.
Answer: Robot
13.Robotic First Law states that _____________________________.
Answer: A robot may not injure a human being or through inaction, allow a human being to come to harm
14.In _____________________ Kinematics we used to determine where the robot’s hand is? (If all joint variables are known).
Answer: Forward Kinematics
15.Representation of a Frame at the Origin of a Fixed-Reference Frame is ___________.
Answer:
16.An object can be represented in space by attaching a frame to it and representing the frame in space in matrix form as ______________.
Answer:
17.In Roll, Pitch and Yaw angles, the roll indicates rotation of a about _______________ axis.
Answer: a – axis (z-axis of the moving frame)
18.Expand DH Representation ______________________________.
Answer: DENAVIT-HARTENBERG
19.The robot looses a degree of freedom thus cannot perform as desired is _______________ problem.
Answer: Degeneracy
20.The volume of points where one can position the robot as desired, but not orientate it is ____________________ problem.
Answer: Dexterity