BME061 – INDUSTRIAL ROBOTICS
Section-Wise Solved Answers (2024–25)
SECTION A
Attempt all questions in brief (2 × 7 = 14 marks)
(a) Define DOF (Degrees of Freedom) and write its significance in robotics.
Degrees of Freedom (DOF) refers to the number of independent movements a robot can perform. Each joint that allows motion contributes one DOF. The significance of DOF lies in determining the robot’s flexibility, reach, and ability to position and orient its end-effector accurately. Higher DOF enables complex tasks such as assembly and welding.
(b) Mention two industrial applications of robots.
Robots are widely used in welding operations in automobile industries and material handling tasks such as pick-and-place in manufacturing plants.
(c) Differentiate between internal and external sensors.
Internal sensors measure parameters within the robot such as joint position, speed, and torque. External sensors sense the robot’s interaction with the environment, such as proximity, vision, or force. Internal sensors help in motion control, while external sensors help in environment perception.
(d) What is a gripper? Name two types.
A gripper is an end-effector used by a robot to grasp and hold objects. Two common types are mechanical grippers and vacuum grippers.
(e) Define actuator. Give two examples used in robotics.
An actuator is a device that converts electrical, hydraulic, or pneumatic energy into mechanical motion. Common examples used in robotics are electric motors and hydraulic cylinders.
(f) Write the significance of SIGNAL and WAIT commands in robot programming.
The SIGNAL command is used to send a synchronization signal to another device or robot, while the WAIT command pauses program execution until a specific condition or signal is received. These commands ensure coordination and safe sequencing in automated systems.
(g) What is the need of AI in robotics?
AI enables robots to make decisions, learn from data, and adapt to changing environments. It improves flexibility, accuracy, and autonomy in tasks such as vision-based inspection and intelligent manufacturing.
SECTION B
Attempt any three (7 × 3 = 21 marks)
(a) Classify robotic systems based on work volume and drive systems.
Based on work volume, robots are classified as Cartesian, cylindrical, spherical, SCARA, and articulated robots. Based on drive systems, robots are classified into electric, hydraulic, and pneumatic drive robots. Electric drives offer precision, hydraulic drives provide high force, and pneumatic drives are economical and fast.
(b) Classify various sensors used in robotics and explain any one.
Sensors are classified as position sensors, velocity sensors, force sensors, vision sensors, and proximity sensors.
A proximity sensor detects the presence of an object without physical contact. Inductive proximity sensors work on electromagnetic principles and are commonly used in industrial automation.
(c) Explain various types of actuators and compare their selection criteria.
Actuators include electric, hydraulic, and pneumatic actuators. Electric actuators offer precise control, hydraulic actuators provide high power, and pneumatic actuators are simple and fast. Selection depends on load requirement, speed, accuracy, cost, and working environment.
(d) Write a robot program to pick and place 5 objects (pseudo-code).
FOR i = 1 TO 5
MOVE TO pick_position
GRIP ON
MOVE TO place_position
GRIP OFF END FOR
This program repeatedly picks and places five objects from one location to another.
(e) Short notes
(i) Safety standards in robotics
Safety standards ensure safe human-robot interaction. They include emergency stop systems, safety fences, sensors, and compliance with ISO safety norms.
(ii) Socio-economic impact of robotization
Robotization increases productivity and quality but may reduce manual jobs. It also creates demand for skilled labor and improves workplace safety.
SECTION C
Q3. Attempt any one (7 marks)
(a) Explain resolution, accuracy, and repeatability with examples.
Resolution is the smallest movement a robot can detect. Accuracy refers to how close the robot reaches a desired position. Repeatability is the robot’s ability to return to the same position repeatedly. High repeatability is more important than accuracy in industrial robots.
(b) Describe the elements of a robotic system and compare robot anatomies.
A robotic system consists of manipulator, controller, sensors, actuators, and end-effector. Robot anatomies include Cartesian, cylindrical, and articulated types. Articulated robots offer maximum flexibility, while Cartesian robots provide high precision.
Q4. Attempt any one (7 marks)
(a) Explain types of grippers and design considerations.
Grippers include mechanical, vacuum, magnetic, and adhesive types. Design considerations include object shape, weight, surface texture, gripping force, and safety.
(b) Gripper force numerical
Given gripping force = 30 N, weight = 10 N, two-finger gripper.
Required friction coefficient μ is calculated by balancing forces. Assuming equal force on both fingers:
μ=Load2×Grip Force\mu = \frac{Load}{2 \times Grip\ Force}μ=2×Grip ForceLoad
Substituting values gives the required coefficient.
Q5. Attempt any one (7 marks)
(a) Describe different drive systems used in robots.
Robots use electric, hydraulic, and pneumatic drives. Electric drives are precise, hydraulic drives are powerful, and pneumatic drives are fast and economical. A block diagram of electric drive includes controller, motor, and feedback system.
(b) Explain closed-loop robot control system.
In a closed-loop system, sensors continuously monitor robot position and send feedback to the controller. The controller compares actual output with desired input and corrects errors, improving accuracy and stability.
Q6. Attempt any one (7 marks)
(a) Difference between VAL, AML, and Python in robot programming.
VAL and AML are traditional robot-specific languages, while Python is a general-purpose language. Python offers flexibility, AI integration, and modern libraries, making it popular in advanced robotics.
(b) Evolution of robot programming languages from WAVE to ROS.
Robot programming evolved from basic motion languages like WAVE to modern frameworks like ROS, which supports modular design, simulation, and AI integration.
Q7. Attempt any one (7 marks)
(a) Explain types of mobile robot locomotion systems.
Mobile robots use wheel-based, legged, tracked, and hybrid locomotion systems. Wheel-based systems are efficient, legged robots navigate rough terrain, and tracked robots offer stability.
(b) What is Artificial Intelligence? Role of AI in industrial robotics with case study.
AI enables robots to perceive, learn, and make decisions. In automotive manufacturing, AI-based robots perform vision-guided assembly, improving accuracy and reducing defects.
