Started on Saturday, 24 September 2022, 3:50 PM

State Finished
Completed on Saturday, 24 September 2022, 4:05 PM
Time taken 14 mins 13 secs
Grade 7 out of 10 (70%)
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[60]
The grippers are used to grasp the objects during the pick and place of the robotic manipulators. Suppose a stiff cardboard carton weighing 5
kg is held in a gripper using friction against two opposing fingers. The coefficient of friction between the
finger contacting surfaces and the
carton surface is 0.25. The orientation of the carton is such that the weight of the carton is directed to parallel to finger surfaces. A fast work
cycle is anticipated so that a ‘g’ factor of 3.0 should be applied
to estimate the required gripper force. The ‘g’ factor is used to compensate
both the gravity and the acceleration effects. The gripper force required is computed as
Where, µ- Coefficient of friction

n- Number of fingers in the gripper

Fg – Gripper force required
W- Weight of the object to be grasped

g- ‘g’ factor to counteract the acceleration and gravity forces

Hence, F = (5)* (3)/ (0.25*2)
F=30 kg
 
Question 1
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[102] [SO-1] [60]

As discussed in the previous example, the various considerations that the robotic engineer should take into consideration during
the mechanical gripper selection and design are listed below. Identify whether the give statements are True/False. (1
Marks – [U/C,
2])
The size variation of the component does not play a vital role while designing or selecting a gripper.

Select one:

True 
False

The correct answer is 'False'.

Question 2
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[104] [SO-1] [60]

Since the robot is being used for material handling applications, identify the application that is not point-to-point movement (1 Marks – [U/C,
2])

Select one:
A. Pick and place.
B. Assembly
C. MIG welding

D. Spray Painting
E. Spot welding

The correct answer is:

Spray Painting
Question 3
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[101] [SO-1] [60]

Whether the component will fall (or) the gripper force will be sufficient to hold the component if the coefficient of friction given in the above
example is halved the value.
(1 Marks – [Ap/C, 2])

Select one:
A. Yes since the coefficient of friction decreases

B. Yes since the gripper force is insufficient
C. No since the gripper force is sufficient
D. No, since there is no change in gripper force.

The correct answer is: Yes since the coefficient of friction decreases
Question 4
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[108] [SO-3] [60]

To have an intelligent control of the robot arm, the feedback devices are necessary to establish intelligence. To have adaptive
torque in the joints, ______ sensor is required in the robot. (1 Marks – [U/C, 2])

Select one:
A. Encoder

B. Strain gauge
C. Voltage sensor
D. Current sensor.
E. Vision

The correct answer is:

Strain gauge
Question 5
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[105] [SO-2] [60]

In case, the above robot arm is to be used to various other applications, identify the application that is not continuous robot movement (1
Marks – [U/C, 2])

Select one:
A. Spot welding

B. Deburring
C. MIG welding
D. Grinding
E. Spray Painting

The correct answer is:

Spot welding
Question 6
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[106] [SO-2] [60]

State True/False for the following statement. (1 Mark – [U/C, 2])
Continuous path movement can be stated as sequence of multiple point-to-point movements

Select one:

True 
False

The correct answer is 'True'.

Question 7
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[107] [SO-3] [60]

The mechanical gripper can have two jaw or three jaw. Based on the application, the two jaw and three jaw gripper are
predominantly used to grasp _________ and ______ kind of objects respectively. (2 Marks – [U/C, 2])

Select one:
A. Rectangular and Cubical
B. Cylindrical and Cubical.
C. Irregular shapes and Cubical
D. Cubical and Round cross section.

E. Round cross section and Cubical

The correct answer is:

Cubical and Round cross section.
Question 8
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[103] [SO-1] [60]

To have a control of the robot output based on the input, _____ type of control system is to be adopted to have high accuracy in the above
application. ( 1 Marks – [U/C, 2])

Select one:
A. Initially open and then closed loop control
B. Initially closed and then open loop control
C. Open loop control
D. Closed loop


The correct answer is:

Closed loop
Question 9
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[109] [SO-3] [60]

The object is necessary to be grasped at _________ inorder to have the moment during transfer of objects.

Select one:
A. Borders

B. Edges

C. Corners

D. Centre of gravity


The correct answer is:

Centre of gravity
 