# CIM Questions and Answers – Industrial Robot Anatomy

This set of CIM Multiple Choice Questions & Answers (MCQs) focuses on “Industrial Robot Anatomy”.

1. Joints are rigid components of a robot.
a) True
b) False

Explanation: Links are rigid components of a robot. Two links are connected by a joint. Joints provide controlled relative movement between the input and the output link. The number of axis of a robot is the number of joints it possesses.

2. In which of the following joints, the relative movement between the input and the output link is translational telescopic motion?
a) Linear
b) Rotational
c) Twisting
d) Revolving

Explanation: The common types of joints in industrial robots are linear joint, orthogonal joint, rotational joint, twisting joint, and revolving joint. In a linear joint, the axes of the input link and the output link are parallel.

3. In ______ joint, the axis of rotation is perpendicular to the axes of input and output links.
a) Twisting
b) Orthogonal
c) Revolving
d) Rotational

Explanation: In a twisting joint, the axis of rotation is parallel to the axes of both the links. In a revolving joint, the input link’s axis is parallel to the axis of rotation of joint, and the output link’s axis is perpendicular to the axis of joint rotation.

4. Which of the following joints is also known as type R joint?
a) Linear joint
b) Rotational joint
c) Revolving joint
d) Orthogonal joint

Explanation: A linear joint is denoted by type L joint, orthogonal joint by type O joint, twisting joint by type T joint, revolving joint by type V joint. In the joint notation system, these letter symbols are used to specify the type of body & arm and wrist configuration of the robot.

5. Which body and arm configuration was used for the robot ‘Unimate’?
a) Articulated robot
b) Cartesian coordinate
c) Delta Robot
d) Polar

Explanation: Polar configuration was used in the first commercial robot ‘Unimate’. The polar configuration was widely used for machine loading and automobile spot welding. It consists of a sliding arm or L joint, T joint, and R joint.

6. A jointed-arm robot is also known as ______
a) SCARA
b) Delta Robot
c) Articulated robot
d) Cartesian coordinate robot

Explanation: An articulated robot has a configuration similar to the human shoulder and arm. It comprises an upright body connected to the base using a T joint. There is a shoulder (R) joint at the top of the body whose output link is connected to an elbow (R) joint.

7. A Cartesian coordinate robot consists of three _____ joints.
a) Orthogonal
b) Linear
c) Rotational
d) Revolving

Explanation: A Cartesian coordinate robot is also called x-y-z robot, gantry robot, or rectilinear robot. It can have linear motion in a three-dimensional rectangular workspace. It is used for overhead access to load and unload machines.

8. Which of the following work envelope belongs to the SCARA robotic configuration?
a) Rectangular
b) Cylindrical
c) Partial sphere
d) Hemisphere

Explanation: The work envelope of a robot is 3D space within which the robot can manipulate its wrist end. A Cartesian coordinate robot has a rectangular solid work envelope. Articulated and polar configuration robots have partial sphere work envelopes.

9. Tactile sensors belong to the category of external sensors.
a) True
b) False

Explanation: Internal sensors are used to control the position and velocities of robot joints. Internal sensors form a feedback control loop with the robot controller. The interaction of a robot with external objects is controlled by external sensors.

10. Which of the following sensors indicate that the object is close to the sensor?
a) Force sensor
b) Touch sensor
c) Optical encoder
d) Proximity sensor

Explanation: Touch sensors indicate that the contact has been made with the part. Force sensors are used to control the magnitude of force applied to grasp the object. Optical encoders are used to control the position of the robot.

Sanfoundry Global Education & Learning Series – CIM.

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