CRS CRS Robotics Hardware & Mechanical Systems 1 — Questions and Answers
Question 1: What type of actuator is most commonly used in industrial robotic joints?
- Hydraulic actuator
- Pneumatic actuator
- Electric servo motor (Correct answer)
- Stepper motor
Correct answer: Electric servo motor
Electric servo motors are most commonly used in industrial robot joints due to their precision, speed control, and repeatability.
Question 2: Which component of a robotic arm directly holds and manipulates workpieces?
- Base
- Wrist
- End effector (Correct answer)
- Elbow joint
Correct answer: End effector
The end effector is the tool or gripper attached at the end of a robotic arm that directly interacts with workpieces.
Question 3: What is the primary function of a harmonic drive in robotic joints?
- Power generation
- High gear reduction with zero backlash (Correct answer)
- Vibration dampening
- Torque limiting
Correct answer: High gear reduction with zero backlash
Harmonic drives provide high gear reduction ratios with zero backlash, making them ideal for precision robotic joint applications.
Question 4: Which encoder type retains absolute position information even after a power loss?
- Incremental encoder
- Resolver
- Absolute encoder (Correct answer)
- Tachometer
Correct answer: Absolute encoder
Absolute encoders retain position information even after power loss, providing a unique position value for every shaft angle.
Question 5: What is the Denavit-Hartenberg (DH) convention used for in robotics?
- Safety standards compliance
- Systematic description of robot kinematics (Correct answer)
- Motor sizing calculations
- Gripper design guidelines
Correct answer: Systematic description of robot kinematics
The DH convention is a standardized method for systematically describing the kinematic chain of a robotic manipulator using four parameters per joint.
Question 6: Which robot configuration uses three mutually perpendicular linear axes?
- SCARA
- Articulated 6-axis
- Cartesian/Gantry (Correct answer)
- Delta
Correct answer: Cartesian/Gantry
Cartesian or gantry robots use three mutually perpendicular linear axes (X, Y, Z) for straightforward, predictable motion in rectilinear space.
CRS CRS Robotics Hardware & Mechanical Systems 1
What type of actuator is most commonly used in industrial robotic joints?