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Robotics Unit-2 Important Questions

The document discusses robot end effectors and grippers. It provides definitions for end effectors, grippers, and different types of grippers like magnetic, mechanical, hooking, and vacuum grippers. It also discusses tools used as end effectors like spot welding and spray painting equipment. The document asks questions about transfer functions, summing functions, take-off points, functional blocks, signal arrows, encoder types, actuators, vacuum cup principles, internal vs external grippers, limitations of magnetic grippers, and feedback devices in robotics. Finally, it provides topics for further discussion in Part B including gripper selection factors, examples of mechanical grippers, comparisons of stepper vs servo motors and drive

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251 views12 pages

Robotics Unit-2 Important Questions

The document discusses robot end effectors and grippers. It provides definitions for end effectors, grippers, and different types of grippers like magnetic, mechanical, hooking, and vacuum grippers. It also discusses tools used as end effectors like spot welding and spray painting equipment. The document asks questions about transfer functions, summing functions, take-off points, functional blocks, signal arrows, encoder types, actuators, vacuum cup principles, internal vs external grippers, limitations of magnetic grippers, and feedback devices in robotics. Finally, it provides topics for further discussion in Part B including gripper selection factors, examples of mechanical grippers, comparisons of stepper vs servo motors and drive

Uploaded by

BEN G.Y
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Department of Mechanical Engineering

ME8099-Robotics
Important Questions

Unit-2

PART-A
1. Define End effectors.

End effector is a device that is attached to the end of the wrist arm to performs pecific tasks.

2. Give some examples of Robot End effectors.

Gripper, Tools, Welding equipments, End of the arm tooling.

3. What is meant by a Gripper and what are the types of gripper?

A device used to hold or grasp an object is termed as a Gripper. The types of the gripper that can
be used are Magnetic gripper, Mechanical gripper, Hooking gripper, and Vacuum Gripper.

4. What is stripping device?

A device used to remove a work piece from the magnetic gripper.

5. What are the types of mechanical grippers?

Linkage Actuation gripper, Gear and rack actuation gripper, Cam actuation gripper and screw
actuated gripper.

6. Give examples of tools used as Robot End effectors?

Spot Welding, Arc Welding, Spray painting, Water jet cutting.

7. What is a transfer function?

The transfer function relates the Laplace transformation of the system output to
aLaplacetransformation of the system input.
8. What is Summing function?

Summing function may have any number of arrows entering but only one leaving.

9. What is take of point?

Take of points permit signals and variables to be shared among more than a single component.

10. What is a functional Block?

Functional block represents one of the components of the system and contains the transfer
function for the component.

11. What is a signal arrow?

Signal arrow indicates the direction of variables and signals in the diagram.

12. Name some of the Feedback devices used in robotics.

Potentiometers, Resolvers, Encoders etc.

13. What are the types of encoders?

Absolute encoder, Incremental encoder

14. What are the factors to be considered while designing grippers?

Material specification, Part specification, Performance specification, source specification,


Position specification, Environmental specification

15. What are actuators?

Device used for converting hydraulic, pneumatic or electrical energy into mechanical energy.
The Mechanicalenergy is used to get the work done.

16. What is the principle used in Vacuum Cup ?

A vaccum cup, is a device or object that uses the negative fluid pressure of air or water to adhere
to nonporous surfaces, creating a partial vacuum

17. What is the difference between internal and external grippers?

In internal grippers, the finger pads are mounted on the inside of the fingers. This mounting
allows the pads to fit into the inside diameter of the part it must fit. The pads are pressed against
the inside wall of the part. An external gripper is designed so that the finger pads press against
the outside of the component. Grips the exterior surface of the objects with closed fingers.
18. List any limitations of magnetic grippers.

Residual magnetism, Side Slippage, more than one sheet will be lifted by the magnet from a
stack.

19. List the types of drive systems used in robotics.

Electrical Motors like servomotors, stepper motors, Hydraulic actuators, Pneumatic actuators.

20. Name the feedback devices used in robotics

Potentiometer, Resolver, Encoder.

PART-B
1) i)List the factors to be considered in selection of gripper.

ii)With a neat sketch explain the rack and pinion mechanical gripper and screw
actuated mechanical gripper.
2) (i)
Comparison of Stepper and servo motor
(ii) Applications and comparison of drives
3) Explain Hydralulic and Pnuematic Actuators.
 
4) Compare different types of drive system in robot operation
5) Explain Magnetic and adhesive grippers.

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