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SNSCE 2019
UNIT 2
BUILDING BLOCKS OF A ROBOT

1. Name the important parts of harmonic drive? The important parts of harmonic drive are
 Rigid circular spline with internal teeth  Flex spline with external teeth
 Elliptical wave generation

2. State the advantages and limitation of a hydraulic drive? Advantages:

 It gives greater speed and strength
 It gives highest power to weight ratio
 It is used for heavy pay loads
 It can be used for large working envelope
 It is safe and reliable to work in wet and dirty conditions  It can be used in
hazardous environment.

Disadvantages
 It occupies more space
 Maintenance should be done regularly

3. What are the types of hydraulic actuator? The types of hydraulic actuators are
 Linear hydraulic actuator
I. Single acting cylinder II. Double acting cylinder
III. Double acting double rod cylinder  Hydraulic rotary actuator
I. Gear motor II. Vane motor
III. Piston motor

4. What are the types of encoder? I. Linear encoder

II. Rotary encoder
 Absolute encoder
 Incremental encoder 5. What is frame grabber?
It is hardware device used to capture and store the digital image.

6. What is the common imaging device used for robot vision system?
Block and White vidicon camera, charge coupled devices, solid state camera, charge
injection device.

7. What is pixel?
Picture elements are also known as pixels.

8. What is the frame of the vision data?

The digital image of the camera is called frame of the vision data

9. What is segmentation?
Segmentation is the method to group area of an image having similar characteristics or
features into distinct entities representing part of the image.

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10. What is thresholding?

Thresholding is a binary conversion technique in which each pixel is converted into a

binary value either black or white.

11. What is region growing?

Region growing is collection of segmentation techniques in which pixels are grouped in
regions called grid elements based on attribute similarities

12. What are the functions of machine vision system?  Sensing and digitizing image data
 Image processing and analysis Application

13. What is application of machine vision system? Inspection

 Identification
 Visual servoing and navigation

14. What is sensor?

A sensor is an electrical device that transfers a physical phenomenon into an electrical
signal. Sensors in robotics are used for both the internal feedback control and external
interaction with the outside environment

15. What is transducer?

Transducer is a device which converts the one form of the energy into another form without
changing the information content.

16. What are the basic classifications of sensors?  Tactile sensors

 Proximity sensors  Range sensors
 Voice sensors etc

17. What are the desirable features of sensors?

1. Good Accuracy, 2. High Precision, 3. Wide operating range, 4. Instant speed of response,
5. Good Repealibility, 6. Low cost,
and easy in operation

18. What is the tactile sensor?

Tactile sensor is a device which indicates the contact between themselves and some other
solid objects.

19. List the different type of tactile sensor?  Digital(Touch) sensor

 Analogue (force) sensor

20. What is touch sensor?

Sensor which senses the presence or absence of the object by having physical contact
between the object

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21. List the component of the force wrist?  Metallic frame

 Bracket for tool mounting  Strain gauges

22. What is a tactile array sensor?

Tactile array sensor is a special type of force sensor composed of a matrix of force sensing
elements.
23. What is the proximity sensor?
Sensor which senses the presence or absence of the object without having physical contact
between the object

24. What are the classifications of a proximity sensor?  Inductive sensor

 Capacitive sensor  Ultrasonic sensor  Magnetic sensor

25. What is a range sensor?

Sensor which sense the range of the object

26. What is a voice sensor?

It is advanced sensor system used to communicate commands or information orally to
robot.

27. What is a vision sensor?

It is a advanced sensor system used in conjunction with pattern reorganization and other
technique to view and interpret event occurring in the robot work space.

28. What is potentiometer?

Potentiometer is an electrical meter to measure the unknown voltage.

29. What is inspection?

It is quality control operation in which the checking of part assembly or products for
conformance to certain criteria is specifying by the design engineering department.

30. What is meant by quantisation?

Each sampled discrete time voltage level is assigned to a finite no of amplitude levels.
These amplitude levels correspond to gray scale used in the system. The predefined amplitude
levels are characteristic to a particular A to D converter and consist of discrete values of voltage
levels is defined by
Number of quantisation levels = 2 power n Where n is the no of bits of the A/D
converter

31. What is meant by encoding?

Encoding is defined as the representation of an amplitude level by a binary digit sequence.

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32. What is meant by sampling?
The given analog signal is sampled periodically to obtained a series of discrete signals.

33. What are the basic lighting devices?  Diffuse surface device
 Condenser projectors
 Flood or spot projectors  Collimator
 Imagers

34. What are the phases of A/D conversion?  Sampling

 Quantization  Encoding

35. What are the various techniques in image processing & analysis?  Image data
reduction
 Segmentation
Feature extraction Object recognition

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