VMKV ENGINEERING COLLEGE, SALEM AERONAUTICAL ENGINEERING COURSE ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION UNIT II - END EFFECTORS AND CONTROL SYSTEMS End effectors - classification - mechanical, magnetic, vacuum and adhesive gripper - gripper force analysis and design. Robot control - unit control system concept - servo and non-servo control of robot joints, adaptive and optimal control. PART A 1. What is an end effector? Ans. End effector is a device that is attached to the end of the wrist arm to perform specific task. 2. Classify end effectors with examples. Ans. Gripper, Tools, Welding equipments, End of arm Tooling (EOAT) 3. What do you mean by gripper? Ans. Gripper is the End effector which can hold or grasp the object. 4. Differentiate between internal grippers and external grippers. Ans. 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 lift. 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. 5. Define base and tool Coordinate system. Ans. A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system at the 0° position of the robot is rotated around each axis so that the tool coordinates system becomes parallel to a basecoordinates system. 6. What are the types of Mechanical Grippers? Ans. (i) Linkage actuation gripper (ii) Gear and rack actuation gripper (iii) Cam actuated gripper (iv) Screw actuated gripper 7. List any two limitations of magnetic grippers. Ans. (i) Residual magnetism (ii) Side slippage (iii) More than one sheet will be lifted by the magnet from a stack 8. Give some examples of tool as robot End effector. Ans. (i) Spot Welding Tools (ii) Arc welding Torch (iii) Spray painting nozzle (iv) Water jet cutting tool 9. List any four important factors to be considered in the selection and design of grippers. Ans. (i) The gripper must have the ability to reach the surface of a work part. (ii) The change in work part size must be accounted for providing accurate positioning. (iii) During machining operations, there will be a change in the work part size. As a result, the gripper must be designed to hold a work part even when the size is varied. (iv) The gripper must not create any sort of distort and scratch in the fragile work parts. 10. List out the types of Drive systems used in Robots. Ans. (i) Electric motors like: Servomotors, Stepper motors (ii) Hydraulic actuators (iii) Pneumatic actuators
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VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
UNIT II - END EFFECTORS AND CONTROL SYSTEMS
End effectors - classification - mechanical, magnetic, vacuum and adhesive gripper - gripper force analysis and
design. Robot control - unit control system concept - servo and non-servo control of robot joints, adaptive and
optimal control.
PART A
1. What is an end effector?
Ans. End effector is a device that is attached to the end of the wrist arm to perform specific task.
2. Classify end effectors with examples.
Ans. Gripper, Tools, Welding equipments, End of arm Tooling (EOAT)
3. What do you mean by gripper?
Ans. Gripper is the End effector which can hold or grasp the object.
4. Differentiate between internal grippers and external grippers.
Ans. 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 lift. 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.
5. Define base and tool Coordinate system.
Ans. A tool coordinates definition system capable of easily obtaining a transformation matrix for
defining a tool coordinates system of a robot. The tool coordinates system at the 0° position of the
robot is rotated around each axis so that the tool coordinates system becomes parallel to a basecoordinates
system.
6. What are the types of Mechanical Grippers?
Ans. (i) Linkage actuation gripper (ii) Gear and rack actuation gripper