CHAP 5

Question 1

which type of joint imposes four constraints and allows one translation and one rotation along the same axis?

Answer 1

cylindrical joint (c)

Question 2

in the context of robot manipulators, how many degrees of freedom does a spherical joint have?

Answer 2

3

Question 3

which joint permits three degrees of freedom, specifically allowing two translations and one rotation in one plane?

Answer 3

planar joint (l)

Question 4

what is the primary diffrence between a lower pair joint and a higher pair joint?

Answer 4

lower pairs have surface contact, while higher pairs have line or point contact

Question 5

if a kinematic chain has exactly two links each connected to only one other link, it is classified as:

Answer 5

open chain

Question 6

in robot manipulator, how many degrees of freedom does a link in a three-dimensional cartesian space possess?

Answer 6

3

Question 7

which type of joint is characterized by the combination of two intersecting revolute joints and possesses two degrees of freedom?

Answer 7

universal joint (u)

Question 8

in the context of kinematic chain, what defines a closed chain mechanism?

Answer 8

every link is connected to exactly two other links

Question 9

which type of joint allows rotation about and translation along the axis of the joint, but the translation is not independent and is related to the rotation by the pitch of the screw?

Answer 9

helical joint (h)

Question 10

for a robot link considered as a rigid body, which statement is true about its degrees of freedom?

Answer 10

it has three dimensional and three rotational degrees of freedom

Question 11

which joint allows paired links to rotate about a single axis with one degree of freedom and is also known as a turning pair or pin joint?

Answer 11

revolute joint (r)

Question 12

how many constraints are imposed by a prismatic joint on the paired links?

Answer 12

5

Question 13

in the context of robot kinematics, what does a “kinenematic chain” specifically refer to?

Answer 13

a series of links connected by joints

Question 14

what kind of motion does a revolute joint constrain between two links?

Answer 14

it allows rotation about one axis only

Question 15

a robot manipulator is primarily used in which sector?

Answer 15

industrial manufacturing

Question 16

how is an assembly of two gears connected by a common shaft treated in kinematics?

Answer 16

as a single rigid link

Question 17

what type of joint allows rotation in all possible orientations but no relative translation?

Answer 17

spherical joint (s)

Question 18

which statement best describes the degree of freedom in the context of a robot’s joint?

Answer 18

it is the number of independent movements allowed by the joint

Question 19

which type of kinematic chain involves multiple open or closed chains connected to a common link?

Answer 19

parallel chain

Question 20

if a robot manipulator’s end-effector requires precision in positioning and orientation, which aspect of kinematics becomes crucial?

Answer 20

the transformations between the coordinate frames of different links

Question 21

what is the degree of freedom (DOF) of a rigid body in three-dimensional space?

Answer 21

6

Question 22

how many degrees of freedom does a prismatic joint add to a robot’s kinematic chain?

Answer 22

1

Question 23

in an open kinematic chain, how is the total degree of freedom calculated?

Answer 23

by summing the degrees of freedom of all joints and subtracting contraints

Question 24

a stewart platform typically has how many degrees of freedom?

Answer 24

6

Question 25

which robot type described can move in x, y, and z axes but has no rotational degrees of freedom?

Answer 25

rectangular coordinate robot (cartesian)

Question 26

how many prismatic actuators are typically used in a stewart platform to achieve its six degrees of freedom?

Answer 26

6

Question 27

what is the typical degree of freedom for a spherical joint?

Answer 27

3

Question 28

in a cylindrical coordinate robot, how many degrees of freedom are typically associated with the rotary joint at the base?

Answer 28

1

Question 29

what defines the workspace of a robot?

Answer 29

the configurations that the end-effector can reach

Question 30

which robot type is known for having three arms connected to a single base and moves in a dome-shape workspace?

Answer 30

delta robot

Question 31

how does a revolute joint constrain the movement of connected links?

Answer 31

allows rotation about one axis

Question 32

in a stewart platform, which types of joints are typically used for connections?

Answer 32

universal and spherical joints

Question 33

for a robot with an articulated arm, how does adding more rotary joints affect its degrees of freedom?

Answer 33

it increases the degrees of freedom

Question 34

what is the main difference between task space and workspace?

Answer 34

task space is task-dependent; workspace is robot-dependent

Question 35

how many degrees of freedom does a universal joint typically provide?

Answer 35

2

Question 36

in a closed kinematic chain, how is the degree of freedom typically calculated?

Answer 36

using gruebler’s equation considering the number of links and joints

Question 37

which robot type can directly and safely interact with humans in a shared workspace?

Answer 37

collaborative robot (cobot)

Question 38

what type of motion does a cylindrical coordinate
robot typically have?

Answer 38

both linear and rotary motion

Question 39

how many degrees of freedom does a planar robot with two revolute joints typically have?

Answer 39

2

Question 40

in the context of robot manipulators, what does the term “dexterous workspace” refer to?

Answer 40

the set of positions that can be reached with all possible orientations