Automation and Robotic Spots Questions 2010 Disember 1st

Warning :
Contributed by Shafiq,
Type and assembled by Aliffhadi This spots questions should not be made as sole
sources for study. But as a guideline only. Please do
refer to test questions tutorial etc. This spots made
from the lectures and what we thought that most
probably being asked in the final exam. Good for last
1. Gripper Force minute review. – aliffhadi&shafiq 

2. Work Volume for each configuration

a. Define accuracy and resolution
b. Define service index
Accuracy – The ability of robots to position its end effector at pre-programmed location in space
Resolution- is the sammlest incremental motion that can be produced by the manipulator
Service Index – (3D case), = Theta/ 4pi, where theta is steradian
(2D case) = theta/2pi, where theta is radian
Service index means- ratio of solid angle enveloping all possible allowed configurations of the last (orienting) link at
a given point of workspace to the solid angle at complete sphere, 4pi.

3. 2-arm manipulator – resolution (find it), spherical robot

4. Explain different type of robot motion. Give examples

a. PTP
 b. Continues
c. Axis limit
Point to point – when the actual path between the desired position is not of great importance. Eg –
sequential, uncoordinated, terminally coordinated(joint interpolated), PTP with linear, circular, parabolic
interpolation
Continuous – when the path is important
Axis limit-

5. Define jacobian for 2-arm manipulator

a. How it is realted with force domain
b. Example how jacobian derived

6. What is harmonic drives – advantages

Harmonic drives- concept based on the use of a mechanically deformed flexible drive member to achieve large
single stage speed reductions at high torque and low backslash.
Advantages :- high torque, high effieciency speed, low backlash, compactness, compact, back driving, high
ratios

7. How to move cylindrical pins for automation, sketch

 8. Building blocks of automation
Controller – its purpose is to modify the behavior of a system such that a desired behavior is achieved.plc,
compensator,pc-based controller
Sensors&transducers - devices that produce output signal for the purpose of sensing a physical phenomenon.
Limit switches, photo electric, fibre optic.
Analyzers – register and analyse the content of a signal produced by sensors ; counters, timers, bar codes reader
Actuators – performs a direct physical action on a particular process. Cylinders, solenoids, relays
Drives – like actuators, but execute a more continuous movement rather than a limited to short linear discreet
motion.

9. PP and ROI
PP, payback period, PP = Total investment/ (Annual Labour Savings, Ls – Expenses of system’s upkeeps, E )
ROI = Annual Saving x 100/ Total investment
Annual Saving, S = (L+M-O) x H-D
L = labour cost
M = material cost
O=operation maintenance
H=hours of working in years
D+ Annual Depreciation
T = P+a +I – C(purchase price, accessory , installation, credit tax at 10%)

10. Advantage of manufacturing cell

Process become11.more
Create automation for bottle fitting
balance
Productivity increases
 12. FMS layout
Inline, close loop, ladder, open field

13. Gantry robot – what are they

14. Gantry RObot

Also known as Cartesian robot –
Advantages – easily controlled, high accuracy, accuracy, speed, pay load capacity constant over entire work
volume...control system simplicity// familiar x,y,z, coordinates-easily understood// inherit stiff structures// large
coverage area// large payoad capacity // simplicity in structure and good reability // easy to expand, modular
fashion//

Usage – used where linear motion with accuracy are demanded // uses where work space is essentially flat, pick
and place // easy dmodularization.

15. Individual advantages

a. Tools coordinate
b. Joint coordinate
 16. Problem
a. 1-man robot
b. 2-man robot

17. Milling machine loading and unloading

18. Remote center compliance

a. Sketch
b. Different type of missallignment

19. Different type of PTP control

Sequential – each axis is driven in turn – usually in steper motor driven robots where they are controlled by
single micro-computer – have long process time.
Uncoordinated – all axes move simultaneously with their maximum velocity/ Position control is required for
each axis – path traced is not predictable. Overall speed time is often determined by the slowest actuator.
Terminally coordinated – joint interpolated – axe are driven at controlled raets – speed control is being
implemented – all axes reach their destination simulteneously
20. Harmonic Drive – Draw