Class Test (Unit- 5)

Roll No:

Name:

1.The relation between Lagrangian function (L), total kinetic energy (K) and total
potential energy of a mechanical system is ____________
[ ]
(a) L=K-P (b) L=K+P (c) L=K/P (d) L=P/K
2.As the complexity of the system increases, the __________ method becomes relatively
simpler to use.
(a) Newtonian- Euler (b) Lagrangian-Euler (c) a&b (d) none
[ ]
3._________Methods can be used to derive Dynamical equations of a robotic
manipulator.
4. _________ method is based on differentiation of energy terms with respect to the
systems variables & time.
5.The Newton Eular and Langrange Eular formulations of the dynamic model provide
a __________ Solution
6.The LE and NE presented in this chapter provide a symbolic solution to __________
dynamics
7. The LE dynamic formulation is based on a set of generalized coordinates to describe
the __________ Variables
8.The left hand side of dynamic equations can be interpreted as sum of the
____________ due to K.E and P.E present in the system
9. The joint torque required to cause these time dependant motions to realize a trajectory
are computed using the _______________dynamic equations of motions
10. The robot manipulator is an open kinematic chain of rigid links connected with
_____________Joints
Unit - 6
1.________ schemes can be used in joint-space trajectory planning.
[ ]
(a) Third- order polynomial (b) fifth- order polynomial (c) a & b (d) none
2.Third-degree polynomial can be used with __________ number of constraints. [ ]
(a) 1 (b) 2 (c) 3 (d) 4
3.___ space trajectories are computationally extensive, and require a faster processing time
(a) Joint (b) Cartesian (c) a & b (d) none
[ ]
4.The description of the motion to be made by the robot by its joint values is called
______
Description
5.A path on which a time law is specified in terms of velocities and/or accelerations at
each point is known as _________.
6. In addition to start and finish points, a specific path between them is required to be traced
By the end effector in _______________Space
7. Operations such as arc welding and plotting are examples of ___________ path motion.
8.The various trajectory planning techniques fall into one of the 2 categories___________
9.The task is specified as initial and final end effector location this is called ___________
Motion
10. A P-degree polynomial has (P+1) coefficients and can therefore satisfy _____________
Constraints

DEPARTMENT OF MECHANICAL ENGINEERING

Units 7
1.Pneumatic actuators have the following characteristic/s _______ [ a]
(a) low compliance (b) high accuracy (c) high stiffness (d) works at very high pressure
2._______ are the muscles of a robot [ c]
(a) sensor (b) manipulator (c) actuator (d) Reservoir
3._________ actuating systems have the highest power-to-weight ratio. [ a]
(a) hydraulic (b) pneumatic (c) electric (d) a, b, & c
4.__________ are the constraints additionally needed if we use a Fifth- degree
polynomial instead of third- degree polynomial for motion between two points
[Initial and Final acceleration]
5. High stiffness and high accuracy are the characteristics of __________ actuator system
[Hydraulic]
6. _________ is actually a transformer whose core moves along with the distance being
measured and that outputs a variable analogue voltage as a result of this
displacement [LVDT]
7. __________ are used as electric actuators.[Servo and Stepper motors]
8.____________ motor works on either AC or DC[Servo]
9.The most popular choice for actuators for robotic systems is the ______________
[Electric motor].
10. The high gear ratio linearizes the system dynamics and reduces the _______________
Effects [Coupling].

DEPARTMENT OF MECHANICAL ENGINEERING

Unit 8
1.Robot can be used in the field of _________. [d]
(a) welding (b) painting (c) assembly operation (d) a, b, & c
2.Robot can be used in conditions _______ [d ]
(a) Hazardous environment (b) where work is repetitive (c) where high accuracy is
necessary (d) a, b, & c
3. Robots with _______________ path capability are used for works such as spray
painting, arc welding, etc.[Continuous]
4.During work cycle in operations category. A robot performs a process with the help of
some tools as
Its ___________ [End effector]
5. Palletizing is the process of ____________[Stacking or Storing the material].
6. Robots can be easily programmed to perform ________________Operation.[Palletizing]
7. To perform satisfactory welding operations, The manipulator should be capable of moving its
Tool point along a_________________in three dimensional space.[Trajectory]
8.A 5 degree of freedom manipulator can weld parts in a plane while 6 degrees of freedom are
Required for welding________________[Complex Contours].
9.Assembly means fitting two or more discrete parts together to form a ___________
[New Product].
10.Three possible misalignments or position errors between the peg and hole are___________
[Lateral, Rotational, and Axial].