A robot manipulator is a chain of links and what?
A Sensors only
B Toolpaths
C Joints
D Bearings only
Answer: C. Joints. A manipulator uses connected links and joints to position an end effector.
A robot end effector performs what at the workpiece?
A Path planning
B Power conversion
C Task interaction
D Data storage
Answer: C. Task interaction. The end effector is the tool or device that interacts with a target.
Robot degrees of freedom count independent what?
A Joint motions
B Sensors
C Links
D Payloads
Answer: A. Joint motions. Degrees of freedom describe independent coordinates needed to specify robot configuration.
A rigid robot link connects which components?
A Two controllers
B Adjacent joints
C Two sensors only
D Power supplies
Answer: B. Adjacent joints. Links connect joints in a kinematic chain.
A revolute joint permits what relative motion?
A Translation only
B No movement
C Fluid flow
D Rotation
Answer: D. Rotation. A revolute joint allows rotation about one axis.
A prismatic joint permits what relative motion?
A Rotation only
B Translation
C No movement
D Gear slip
Answer: B. Translation. A prismatic joint allows linear sliding along an axis.
A Cartesian robot uses which main axis motions?
A Only rotary joints
B Two coaxial shafts
C Flexible cables
D Linear orthogonal axes
Answer: D. Linear orthogonal axes. Cartesian robots move along orthogonal linear axes.
A cylindrical robot commonly combines linear motion with what?
A Rotation about base
B Three planar rotations
C Flexible drive belts
D No joint motion
Answer: A. Rotation about base. Cylindrical robots use a rotary base and linear arm motions.
A SCARA robot is designed for what planar task?
A Selective compliance assembly
B Deep-sea navigation
C Heavy vehicle steering
D Surface grinding only
Answer: A. Selective compliance assembly. SCARA arms provide compliant planar motion and stiffness in the vertical direction.
An articulated robot arm contains mostly what joints?
A Revolute joints
B Only prismatic joints
C Fluid valves
D Linear rails only
Answer: A. Revolute joints. Articulated robots use multiple rotary joints.
A coordinate frame defines origin and what?
A Tool wear
B Payload mass
C Axis directions
D Motor temperature
Answer: C. Axis directions. A frame specifies an origin and coordinate axes.
A homogeneous transform represents rotation and what?
A Force only
B Mass only
C Translation
D Temperature
Answer: C. Translation. Homogeneous transformation matrices combine rotation and translation.
Forward kinematics maps joint coordinates to what?
A Motor current
B End-effector pose
C Path cost
D Sensor voltage
Answer: B. End-effector pose. Forward kinematics computes tool position and orientation from joint values.
Inverse kinematics maps desired tool pose to what?
A Payload center
B Motor temperature
C Joint coordinates
D Camera pixels only
Answer: C. Joint coordinates. Inverse kinematics solves for joint values that achieve a target end-effector pose.
A robot singularity causes loss of what?
A Payload mass
B Joint count
C Sensor accuracy always
D Instantaneous motion capability
Answer: D. Instantaneous motion capability. At a singularity, certain end-effector motions cannot be produced or require extreme joint rates.
A robot workspace is the set of reachable what?
A Motor currents
B Sensor temperatures
C Controller states
D End-effector positions
Answer: D. End-effector positions. Workspace contains positions and orientations the robot can reach.
Repeatability measures return to the same position under what?
A New tool geometry
B Changed payload only
C Different coordinate frame
D Repeated commands
Answer: D. Repeated commands. Repeatability is consistency across repeated approaches to a commanded location.
Robot accuracy measures closeness to what?
A Previous position
B Commanded position
C Maximum speed
D Sensor range
Answer: B. Commanded position. Accuracy compares actual position with the commanded or desired position.
Robot payload is the maximum load carried at what location?
A Robot base
B End effector
C Controller cabinet
D Safety fence
Answer: B. End effector. Payload rating applies to a specified tool and load position.
Robot reach is the maximum distance to what?
A Controller
B Reachable point
C Power outlet
D Safety fence
Answer: B. Reachable point. Reach describes how far the robot can extend its end effector.
A mobile robot moves through its environment using what?
A Fixed base only
B Tool changer
C Hydraulic fixture
D Locomotion system
Answer: D. Locomotion system. Mobile robots use wheels, tracks, legs or other locomotion.
A robot base frame is attached to what?
A Robot mounting base
B End effector only
C Camera image
D Workpiece datum always
Answer: A. Robot mounting base. The base frame provides the reference for robot link coordinates.
A wrist on a robot commonly controls tool what?
A Orientation
B Payload only
C Base location
D Safety zone
Answer: A. Orientation. Wrist joints orient the tool relative to the arm.
A gripper is a type of what?
A Robot controller
B Joint sensor
C End effector
D Coordinate frame
Answer: C. End effector. A gripper grasps and holds objects as an end effector.
A teach pendant allows an operator to jog and what?
A Program robot
B Measure fuel
C Change payload mass
D Machine a gear
Answer: A. Program robot. Teach pendants jog robot axes and record or edit programs.