UNIT–I FUNDAMENTALS OF ROBOT TECHNOLOGY

Prepared by, Singaravelan M ME

History of Robot - Introduction – History of robot – Definitions - Robot Anatomy – Basic
configuration of Robotics – Robot Components – Manipulator, End Effecter, Drive system,
Controller and Sensors.Robot arm - Mechanical arm – Degrees of freedom – Links and joints –
Types of joints – Joint notation scheme –Degrees of freedom associated with arm and body -
Degrees of freedom associated with wristClassification of robots- Cartesian, Cylindrical,
spherical, horizontal articulated (SCARA) vertical articulated – Work envelope, Work volume –
Introduction to PUMA Robot.

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25 MCQs: History of Robots

1. Who coined the term "robot"?

A. Isaac Asimov
B. Joseph Engelberger
C. Karel Čapek
D. George Devol
✅ Answer: C. Karel Čapek

2. The term "robot" comes from the Czech word "robota", meaning:
A. Worker
B. Servant
C. Mechanical
D. Forced labor
✅ Answer: D. Forced labor

3. The first robot used in an industrial application was:

A. Shakey
B. ELEKTRO
C. ASIMO
D. Unimate
✅ Answer: D. Unimate

4. Who is known as the father of industrial robotics?

A. Alan Turing
B. Isaac Newton
C. Joseph Engelberger
D. Karel Čapek
✅ Answer: C. Joseph Engelberger

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5. Who invented the first programmable robot, Unimate?
A. George Devol
B. John McCarthy
C. Nikola Tesla
D. Isaac Asimov
✅ Answer: A. George Devol

6. In which year was Unimate first used in industry?

A. 1954
B. 1961
C. 1970
D. 1985
✅ Answer: B. 1961

7. The play “R.U.R.”, where the word "robot" first appeared, was written in:
A. 1912
B. 1920
C. 1935
D. 1941
✅ Answer: B. 1920

8. Isaac Asimov is famous for introducing:

A. Industrial robot
B. Humanoid robot
C. Three Laws of Robotics
D. Robotic sensors
✅ Answer: C. Three Laws of Robotics

9. ASIMO, a humanoid robot, was developed by:

A. Sony
B. Toyota
C. Honda
D. Mitsubishi
✅ Answer: C. Honda

10. In which year was ASIMO introduced?

A. 1997
B. 2000
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C. 2005
D. 2010
✅ Answer: B. 2000

11. What does ASIMO stand for?

A. Advanced Step in Motion
B. Android System for Intelligent Movement
C. Automatic Simulation Model
D. Advanced System Integrated for Motion Operation
✅ Answer: A. Advanced Step in Motion

12. Which ancient inventor designed an early form of robotic mechanisms using steam?
A. Archimedes
B. Hero of Alexandria
C. Ptolemy
D. Da Vinci
✅ Answer: B. Hero of Alexandria

13. Leonardo da Vinci's mechanical knight was designed in which year?

A. 1445
B. 1495
C. 1505
D. 1515
✅ Answer: B. 1495

14. The robot "Shakey" was significant because it was the first:
A. Industrial robot
B. AI-powered robot
C. Entertainment robot
D. Flying robot
✅ Answer: B. AI-powered robot

15. Shakey was developed at:

A. NASA
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B. Stanford Research Institute
C. IBM
D. MIT
✅ Answer: B. Stanford Research Institute

16. Which robot was presented at the 1939 New York World's Fair?
A. Shakey
B. ASIMO
C. ELEKTRO
D. Roomba
✅ Answer: C. ELEKTRO

17. ELEKTRO was capable of:

A. Walking and talking
B. Simple speech and smoke puffing
C. Performing surgery
D. Programming itself
✅ Answer: B. Simple speech and smoke puffing

18. Which robot was the first to have the ability to "think" and make decisions?
A. ASIMO
B. ELEKTRO
C. Shakey
D. Unimate
✅ Answer: C. Shakey

19. Robots were first widely adopted in which sector?

A. Medicine
B. Agriculture
C. Manufacturing
D. Education
✅ Answer: C. Manufacturing

20. In which decade did robotics gain major momentum in Japan?

A. 1950s
B. 1960s
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C. 1980s
D. 2000s
✅ Answer: C. 1980s

21. Which country is currently the leader in industrial robot installations (as of 2020s)?
A. Germany
B. USA
C. Japan
D. China
✅ Answer: D. China

22. What was the main goal of early industrial robots?

A. Military use
B. Human interaction
C. Replacing repetitive manual labor
D. Teaching children
✅ Answer: C. Replacing repetitive manual labor

23. The Three Laws of Robotics were introduced in which story collection?
A. I, Robot
B. The Time Machine
C. Robot Tales
D. Future Science
✅ Answer: A. I, Robot

24. When was the field of Artificial Intelligence formally founded (related to robots thinking)?
A. 1943
B. 1956
C. 1965
D. 1971
✅ Answer: B. 1956

25. Which field most influenced the early development of robots?

A. Biology
B. Physics
C. Mechanical Engineering
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D. Philosophy
✅ Answer: C. Mechanical Engineering

Set 1 (25 MCQs) based on “Definitions – Robot Anatomy – Basic Configuration – Robot Components –
Manipulator, End Effector, Drive System, Controller and Sensors”.

Each question has 4 options with the correct answer marked ✅.

✅ SET 1 – 25 MCQs

1. What is the correct definition of a robot?

A. A machine that only performs calculations
B. A machine capable of carrying out a complex series of actions automatically ✅
C. A vehicle for space travel
D. An advanced smartphone

2. Which part of the robot is responsible for movement and positioning?

A. Controller
B. Sensor
C. Manipulator ✅
D. Power supply

3. What is a manipulator in robotics?

A. The central processing unit
B. The robotic arm that moves and interacts with objects ✅
C. A power supply device
D. A type of sensor

4. Which device forms the ‘hand’ of the robot?

A. Sensor
B. Actuator
C. End Effector ✅
D. Base

5. Which of the following is NOT a basic configuration of industrial robots?

A. Cartesian
B. Cylindrical

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C. Spherical
D. Rectangular ✅

6. Which of these sensors helps robots detect distance to an object?

A. Proximity sensor ✅
B. Touch sensor
C. Color sensor
D. Pressure sensor

7. The drive system in a robot is used to:

A. Program the robot
B. Power and control movement of joints and links ✅
C. Improve image resolution
D. Store energy

8. What component interprets commands and controls the robot’s actions?

A. Actuator
B. Controller ✅
C. Sensor
D. Effector

9. Which of the following is considered the 'brain' of the robot?

A. Controller ✅
B. Sensor
C. Manipulator
D. Chassis

10. Which robot configuration has three linear joints and operates in XYZ planes?
A. Cylindrical
B. Spherical
C. Cartesian ✅
D. Articulated

11. The system responsible for powering robotic joints is called:

A. Actuator ✅
B. Sensor
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C. Controller
D. Manipulator

12. End effectors are mounted on:

A. Controller
B. Base
C. Manipulator ✅
D. Drive system

13. Which of the following is a type of end effector?

A. Camera
B. Gripper ✅
C. Sensor
D. Battery

14. Which sensor can detect object presence without physical contact?
A. Limit switch
B. Proximity sensor ✅
C. Touch sensor
D. Encoder

15. A feedback device used to measure rotation is a(n):

A. Accelerometer
B. Gyroscope
C. Encoder ✅
D. Thermocouple

16. What does the controller use to send signals to actuators?

A. Program memory
B. Command inputs
C. Control signals ✅
D. Power cables

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17. A cylindrical robot has which type of motion?
A. Linear and circular ✅
B. Only linear
C. Spherical
D. Pivot only

18. Which part of a robot senses the environment?

A. End effector
B. Manipulator
C. Sensor ✅
D. Actuator

19. Which type of drive system is best for high-speed operation?

A. Hydraulic
B. Electric ✅
C. Pneumatic
D. Magnetic

20. The combination of sensors and actuators in a feedback loop is called:

A. Controller
B. Drive system
C. Closed-loop control ✅
D. Manipulator

21. Which of these is not a robot component?

A. End effector
B. Sensor
C. Fuel tank ✅
D. Controller

22. A spherical robot has how many degrees of freedom typically?

A. 1
B. 2
C. 3 ✅
D. 6

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23. Which robotic configuration resembles the human arm?
A. Cartesian
B. Cylindrical
C. Articulated ✅
D. Delta

24. Robots with rotary joints and links are called:

A. SCARA
B. Delta
C. Articulated ✅
D. Gantry

25. Which robotic configuration is best suited for assembly operations?

A. SCARA ✅
B. Cartesian
C. Spherical
D. Polar

✅ SET 2 – 25 MCQs

1. Which robot component physically interacts with the environment?

A. Sensor
B. Manipulator
C. End Effector ✅
D. Controller

2. The function of a robot sensor is to:

A. Control robot movement
B. Sense and respond to the environment ✅
C. Transmit power
D. Act as a hand

3. Which drive system is commonly used for heavy load robots?

A. Electric
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B. Pneumatic
C. Hydraulic ✅
D. Manual

4. The articulated robot configuration has how many rotary joints?

A. 1
B. 2
C. 3 or more ✅
D. None

5. What is the base of a robot used for?

A. Control processing
B. Sensor mounting
C. Support and stability ✅
D. Power regulation

6. The robot's arm that moves in different directions is called:

A. Effector
B. Chassis
C. Manipulator ✅
D. Console

7. Which of the following is an example of a passive sensor?

A. Camera ✅
B. Ultrasonic sensor
C. Proximity sensor
D. LIDAR

8. What is the purpose of a gripper in robotics?

A. Measure force
B. Grip and hold objects ✅
C. Sense temperature
D. Move the base

9. A controller in robotics performs which task?

A. Executes program instructions ✅
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B. Lifts payload
C. Moves joints
D. Detects color

10. Which of the following is a rotary actuator?

A. Stepper motor ✅
B. Piston
C. Linear rail
D. Solenoid

11. A cylindrical robot moves in which coordinate system?

A. X-Y
B. X-Z
C. Cylindrical (r, θ, z) ✅
D. Spherical (r, θ, φ)

12. Which of the following is NOT a component of robot anatomy?

A. Sensor
B. Controller
C. Transistor ✅
D. Drive system

13. Which configuration allows robots to operate with a spherical working envelope?
A. Articulated
B. Polar ✅
C. SCARA
D. Cartesian

14. Which type of actuator is best for high precision motion?

A. Hydraulic
B. Pneumatic
C. Electric ✅
D. Manual

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15. What is the SCARA robot mainly used for?

A. Painting
B. Welding
C. Assembly tasks ✅
D. Agriculture

16. What defines the workspace of a robot?

A. Area where it stores tools
B. Area it can reach and operate in ✅
C. Programming interface
D. Communication module

17. What does DOF stand for in robotics?

A. Degree of Function
B. Design of Force
C. Degree of Freedom ✅
D. Drive of Frame

18. Which of the following is a function of sensors?

A. Reduce speed
B. Move joints
C. Provide feedback ✅
D. Grip object

19. Robots with three prismatic joints usually have which configuration?
A. SCARA
B. Cartesian ✅
C. Cylindrical
D. Articulated

20. Tactile sensors are used for:

A. Color detection
B. Distance measurement
C. Detecting touch and pressure ✅
D. Temperature sensing

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21. What is the purpose of a feedback loop in robot control?

A. Increase load capacity
B. Control temperature
C. Ensure accurate motion ✅
D. Stabilize battery

22. Which sensor measures rotational position?

A. Potentiometer ✅
B. Proximity
C. Touch
D. Thermal

23. The robot controller communicates with:

A. Only sensors
B. Only actuators
C. All components ✅
D. Only grippers

24. Which robot configuration is best for pick-and-place operations?

A. Cartesian
B. Delta ✅
C. Spherical
D. Cylindrical

25. In robotics, compliance refers to:

A. Strict rigidity
B. Softness in movement ✅
C. Electrical insulation
D. Data transfer

✅ SET 3 – 25 MCQs

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1. Which of the following is an internal component of a robot?
A. End effector
B. Sensor
C. Controller ✅
D. Gripper

2. What is the main function of a robot’s drive system?

A. Measure distance
B. Detect light
C. Move mechanical parts ✅
D. Cool the system

3. Which robotic configuration uses revolute and prismatic joints?

A. Polar
B. SCARA ✅
C. Cartesian
D. Articulated

4. The combination of multiple joints and links creates:

A. Sensor
B. Manipulator ✅
C. Base
D. Gripper

5. A robot's brain is commonly referred to as its:

A. Sensor
B. Processor
C. Controller ✅
D. Actuator

6. Which sensor helps a robot detect physical contact with an object?

A. Touch sensor ✅
B. Ultrasonic sensor

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C. LIDAR
D. Infrared sensor

7. A robot’s workspace is determined by its:

A. Payload
B. Controller
C. Configuration and DOF ✅
D. Sensor type

8. Which configuration allows for vertical and rotary motion but limited horizontal reach?
A. Polar
B. Cylindrical ✅
C. SCARA
D. Articulated

9. Which part of a robot directly contacts the workpiece during operations?

A. Sensor
B. Joint
C. End Effector ✅
D. Controller

10. An encoder in a robot provides feedback on:

A. Speed only
B. Position and speed ✅
C. Temperature
D. Battery status

11. A robot using pneumatic actuators is ideal for:

A. Heavy-duty forging
B. Fine assembly work ✅
C. Subsea operations
D. Radiation exposure

12. Which robotic configuration has a spherical work envelope?

A. Cartesian
B. SCARA
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C. Polar ✅
D. Delta

13. Drive systems in robots can be electric, hydraulic, or:

A. Wind-powered
B. Manual
C. Pneumatic ✅
D. Magnetic

14. Robotic sensors convert physical stimuli into:

A. Program code
B. Mechanical motion
C. Electrical signals ✅
D. Fluid pressure

15. Degrees of freedom in robotics refer to:

A. Sensor count
B. Weight capacity
C. Independent movement axes ✅
D. Software instructions

16. A robot's actuator converts:

A. Signal into decision
B. Energy into motion ✅
C. Data into code
D. Heat into electricity

17. Which part of the robot is responsible for executing commands from the controller?
A. Actuator ✅
B. Sensor
C. Base
D. Power supply

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18. The SCARA robot is best known for its:
A. Spherical movement
B. Vertical stacking
C. Selective compliance ✅
D. Speed in welding

19. Which sensor type measures changes in temperature?

A. Thermocouple ✅
B. Proximity sensor
C. Accelerometer
D. Gyroscope

20. What type of joint provides rotary motion?

A. Revolute joint ✅
B. Prismatic joint
C. Linear guide
D. End effector

21. The articulated robot usually resembles:

A. Insect legs
B. Spider arms
C. Human arm ✅
D. Cylindrical pole

22. The range of motion of a robotic arm is limited by its:

A. End effector
B. Drive system
C. Sensor feedback
D. Mechanical configuration ✅

23. Which component allows a robot to perform different tasks by changing tools?
A. Manipulator
B. Tool changer ✅
C. Sensor module
D. Control panel

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24. Which of the following is an active sensor?
A. Ultrasonic sensor ✅
B. Camera
C. Encoder
D. Thermometer

25. Robot configuration affects which of the following?

A. Battery life
B. Payload only
C. Workspace shape and motion ✅
D. Material used

✅ SET 4 – 25 MCQs

1. What determines the number of degrees of freedom in a robot?

A. Type of sensor
B. Type of power supply
C. Number of movable joints ✅
D. End effector size

2. Which of the following robots uses parallel linkage for movement?

A. Delta ✅
B. Cartesian
C. Cylindrical
D. SCARA

3. Which sensor would be best to measure linear displacement?

A. Encoder
B. Potentiometer
C. LVDT ✅
D. Ultrasonic

4. The part of the robot that processes information is the:

A. Effector
B. Manipulator

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C. Controller ✅
D. Chassis

5. What type of motion does a prismatic joint allow?

A. Rotational
B. Linear ✅
C. Oscillating
D. Random

6. Which configuration provides a box-shaped workspace?

A. Cylindrical
B. SCARA
C. Cartesian ✅
D. Polar

7. What do you call a device used to grip, hold, or manipulate an object in robotics?
A. Effector
B. Sensor
C. Gripper ✅
D. Rotator

8. Which robot component converts control signals into mechanical movement?

A. Sensor
B. Actuator ✅
C. Drive
D. Gear

9. Robots used in hazardous environments mainly rely on:

A. Vision sensors
B. Wireless control
C. Remote operation and sensors ✅
D. Voice commands

10. Which joint type allows for pivot motion around a single axis?
A. Rotary ✅
B. Linear
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C. Twist
D. Fixed

11. End effectors used for welding are examples of:

A. Grippers
B. Tools ✅
C. Actuators
D. Sensors

12. Which of these is NOT typically part of a robot's controller unit?

A. Microprocessor
B. Memory
C. Software
D. End effector ✅

13. Which drive system provides smooth and quiet operation?

A. Hydraulic
B. Pneumatic
C. Electric ✅
D. Manual

14. The component that provides torque to move robot links is the:
A. Motor ✅
B. Sensor
C. Controller
D. Cable

15. Which sensor is typically used to avoid collisions?

A. Color sensor
B. Proximity sensor ✅
C. Touch sensor
D. Potentiometer

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16. An articulated robot can have up to how many degrees of freedom?
A. 3
B. 4
C. 6 ✅
D. 9

17. Which configuration is typically used for pick-and-place tasks in packaging?

A. Articulated
B. Polar
C. SCARA ✅
D. Cylindrical

18. The physical body of a robot including arm, joints, and links is called:
A. Structure
B. Manipulator ✅
C. Frame
D. Actuator

19. What is the role of a feedback device in a robotic system?

A. Execute program
B. Provide power
C. Monitor and correct motion ✅
D. Detect metal

20. Which robotic component senses force or pressure?

A. Torque sensor ✅
B. Vision sensor
C. Infrared sensor
D. Thermal sensor

21. A Cartesian robot typically moves along how many linear axes?
A. 1
B. 2
C. 3 ✅
D. 4

22. A robot’s work envelope depends on:

A. End effector design
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B. Drive system
C. Joint type and configuration ✅
D. Sensor accuracy

23. A pneumatic drive system is most suitable for:

A. Precision welding
B. Underwater applications
C. Light-duty assembly ✅
D. Heavy lifting

24. Which component ensures repeatable and accurate motion in robots?

A. Gripper
B. Gearbox
C. Controller
D. Feedback system ✅

25. What is the purpose of a robot’s controller memory?

A. Storing parts
B. Holding programs and data ✅
C. Power distribution
D. Thermal protection

✅ SET 5 – 25 MCQs

1. The actuator used in high-force, slow-speed robotic applications is:

A. Pneumatic
B. Hydraulic ✅
C. Electric
D. Magnetic

2. What does a gyroscope sensor measure in a robotic system?

A. Distance
B. Color
C. Angular velocity ✅
D. Temperature

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3. A robot's joint that moves in a straight line is called a:
A. Revolute joint
B. Prismatic joint ✅
C. Fixed joint
D. Circular joint

4. Which of the following robots is ideal for 3D printing applications?

A. SCARA
B. Cartesian ✅
C. Cylindrical
D. Articulated

5. What component in robots acts like human muscles?

A. Sensors
B. Controllers
C. Actuators ✅
D. Processors

6. Which device allows a robot to rotate continuously in one direction?

A. Gearbox
B. Stepper motor
C. Servo motor
D. DC motor ✅

7. What is the most commonly used sensor in a mobile robot for obstacle detection?
A. Temperature sensor
B. Proximity sensor ✅
C. Pressure sensor
D. Touch sensor

8. Which joint gives a robot the ability to turn its parts in a circle?
A. Prismatic
B. Revolute ✅
C. Translational
D. Piston

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9. Which configuration is suitable for robotic tasks requiring vertical movement and rotation?
A. Cartesian
B. Cylindrical ✅
C. SCARA
D. Polar

10. The brain of the robot that interprets and sends commands is called the:
A. Actuator
B. End effector
C. Controller ✅
D. Sensor

11. What is a gripper used for in robotics?

A. Measuring torque
B. Holding or manipulating objects ✅
C. Displaying messages
D. Powering motors

12. What does a potentiometer measure in a robotic arm?

A. Force
B. Voltage
C. Angular position ✅
D. Distance

13. A servo motor is mainly used for:

A. High-speed drilling
B. Power backup
C. Precision positioning ✅
D. Temperature control

14. The working range a robot can reach is called:

A. Payload
B. Footprint
C. Work envelope ✅
D. Support base

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15. Which robotic element provides mechanical strength and structural support?
A. Gripper
B. Base ✅
C. Sensor
D. Controller

16. Which actuator type offers high speed but lower force?
A. Hydraulic
B. Pneumatic ✅
C. Electric
D. Magnetic

17. Which sensor would you use to measure load or force applied by a robot?
A. Touch sensor
B. Load cell ✅
C. IR sensor
D. Encoder

18. What is a robot's maximum payload?

A. The distance it can reach
B. The weight it can safely lift ✅
C. Its battery capacity
D. Number of joints

19. What is the main purpose of a robot’s controller unit?

A. Store tools
B. Drive actuators directly
C. Process input and control output ✅
D. Detect humidity

20. Which robot configuration typically has the highest flexibility?

A. Cartesian
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B. SCARA
C. Articulated ✅
D. Cylindrical

21. What type of drive is best for cleanroom applications?

A. Hydraulic
B. Electric ✅
C. Pneumatic
D. Manual

22. What limits the movement of a robot’s joint?

A. Controller programming
B. Joint design and mechanical constraints ✅
C. Sensor location
D. Tool weight

23. What sensor type is used in vision systems of robots?

A. Optical camera ✅
B. LVDT
C. Strain gauge
D. Barometer

24. Which robot configuration uses both rotary and linear movements in a polar coordinate system?
A. Cylindrical
B. SCARA
C. Polar ✅
D. Cartesian

25. In which part of the robot are programs stored and processed?
A. End effector
B. Sensor
C. Memory inside the controller ✅
D. Drive system

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✅ Robot Arm – SET 1 (25 MCQs)

1. What is meant by 'degree of freedom' in a robotic arm?

A. The weight a robot can lift
B. The number of independent movements ✅
C. The number of motors
D. The joint type used

2. Which of the following is NOT a type of robotic joint?

A. Revolute
B. Prismatic
C. Spherical
D. Flexible ✅

3. Which joint type allows rotary motion?

A. Revolute ✅
B. Prismatic
C. Linear
D. Glide

4. Which joint allows straight-line movement?

A. Twist
B. Revolute
C. Prismatic ✅
D. Rotary

5. In robotics, a link is best described as:

A. A control circuit
B. A moving actuator
C. A rigid component connecting joints ✅
D. An input device

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6. The wrist of a robotic arm usually has how many degrees of freedom?
A. 1
B. 2
C. 3 ✅
D. 4

7. The combination of links and joints forms the:

A. Effector
B. Controller
C. Manipulator ✅
D. Motor

8. Which joint is represented by 'R' in joint notation?

A. Rotational ✅
B. Repetitive
C. Rigid
D. Resonant

9. A robotic arm with 6 degrees of freedom can:

A. Only move in a straight line
B. Move and orient its end effector freely in 3D space ✅
C. Perform only pick and place
D. Lift any load

10. Which of the following is a common DOF configuration for industrial robot arms?
A. 2 DOF
B. 3 DOF
C. 6 DOF ✅
D. 9 DOF

11. The body and arm of the robot typically have how many degrees of freedom?
A. 2
B. 3 ✅
C. 5
D. 6

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12. Which of the following joints allows the most freedom of motion?
A. Prismatic
B. Revolute
C. Spherical ✅
D. Fixed

13. Joint notation ‘RRR’ represents:

A. Three revolute joints ✅
B. Three prismatic joints
C. One revolute and two fixed joints
D. Mixed joints

14. Which component determines the range of motion in a robotic arm?

A. Joint type ✅
B. Material
C. Gripper
D. Sensor

15. A serial manipulator consists of:

A. A parallel set of actuators
B. A single link
C. A series of joints and links ✅
D. Only sensors

16. Which joint is also called a sliding joint?

A. Rotational
B. Prismatic ✅
C. Twist
D. Hinge

17. What is the role of the wrist in a robotic arm?

A. Sensing objects
B. Powering the robot

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C. Controlling orientation of the end effector ✅
D. Supporting the base

18. If a robotic arm has 3 links and 3 revolute joints, it has how many DOF?
A. 2
B. 3 ✅
C. 4
D. 6

19. Which joint allows rotation about a single axis only?

A. Revolute ✅
B. Spherical
C. Universal
D. Compound

20. In joint notation, ‘P’ stands for:

A. Pressure
B. Prismatic ✅
C. Pivot
D. Passive

21. The part of the robotic arm that joins two links is called:
A. End effector
B. Joint ✅
C. Sensor
D. Actuator

22. A robot wrist with pitch, yaw, and roll motion has how many DOF?
A. 1
B. 2
C. 3 ✅
D. 6

23. DOF of the robot manipulator is important because it:

A. Increases speed
B. Defines arm color
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C. Defines possible movements ✅
D. Improves durability

24. Which joint type is found in both human and robotic arms?
A. Prismatic
B. Revolute ✅
C. Sliding
D. Magnetic

25. Which part of a robot provides orientation to the end effector?

A. Wrist ✅
B. Elbow
C. Base
D. Sensor

✅ Robot Arm – SET 2 (25 MCQs)

1. Which part of the robot determines its reach and span?

A. Controller
B. Link ✅
C. Joint
D. Sensor

2. The minimum number of DOF required for a robot to position and orient in 3D space is:
A. 3
B. 4
C. 5
D. 6 ✅

3. Which type of joint allows both pitch and yaw movement?

A. Revolute
B. Spherical ✅
C. Prismatic
D. Linear

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4. A revolute joint provides rotation around:
A. Multiple axes
B. A fixed base
C. A single axis ✅
D. A curved surface

5. How many DOF are associated with a typical industrial robot wrist?
A. 1
B. 2
C. 3 ✅
D. 4

6. The 'RP' joint notation stands for:

A. Revolute-Position
B. Rotary-Prismatic
C. Revolute-Prismatic ✅
D. Rigid-Plug

7. What is the main role of joints in a robot arm?

A. To sense objects
B. To reduce motion
C. To provide relative motion between links ✅
D. To increase weight

8. Which of the following is NOT a DOF in a robotic wrist?

A. Pitch
B. Yaw
C. Slide ✅
D. Roll

9. The fixed end of a robotic arm is usually connected to the:

A. End effector
B. Base ✅
C. Joint
D. Sensor

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10. What does an 'RRP' configuration represent in joint notation?
A. 3 revolute joints
B. 2 revolute and 1 prismatic joints ✅
C. 1 revolute and 2 prismatic joints
D. 3 prismatic joints

11. What is the purpose of using more degrees of freedom in a robotic arm?
A. Reduce cost
B. Increase complexity
C. Improve flexibility and movement capability ✅
D. Lower energy consumption

12. In a revolute joint, the motion is:

A. Translational
B. Sliding
C. Rotational ✅
D. Vibrating

13. Which of the following combinations is valid for a robotic wrist joint set?
A. Pitch, Slide, Yaw
B. Roll, Pitch, Yaw ✅
C. Slide, Bend, Yaw
D. Roll, Glide, Pull

14. What is the total number of DOF for an articulated robot with 3 arm joints and 3 wrist joints?
A. 3
B. 5
C. 6
D. 6 ✅

15. Which term refers to the connection between two links in a robotic arm?
A. Sensor
B. Actuator

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C. Joint ✅
D. Clutch

16. A 5 DOF robot can control:

A. Only linear motion
B. Movement in 3D without full orientation
C. Full orientation and position
D. Only horizontal movement ✅

17. What does the 'yaw' motion represent in a wrist joint?

A. Up and down rotation
B. Left and right rotation ✅
C. Rotational spinning
D. Lateral bending

18. The robot link between the shoulder and elbow joint is often called the:
A. Wrist
B. Base
C. Upper arm ✅
D. End effector

19. A joint allowing back-and-forth sliding motion is:

A. Revolute
B. Universal
C. Prismatic ✅
D. Spherical

20. The DOF of a robot directly affects its:

A. Cost
B. Motion capabilities ✅
C. Weight
D. Power consumption

21. What does 'pitch' describe in a robotic wrist?

A. Bending up or down ✅
B. Rotating left or right
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C. Sliding back
D. Holding objects

22. Which of the following joint types offers the highest flexibility?
A. Fixed
B. Prismatic
C. Spherical ✅
D. Revolute

23. Which joint notation describes a simple polar robot?

A. RRR
B. RP ✅
C. PRR
D. PPP

24. Which term describes the mechanical structure that connects two joints?
A. Joint
B. Shaft
C. Link ✅
D. Gripper

25. A robotic arm with RRP configuration is likely to be used in:

A. Welding
B. Assembly
C. Vertical movement with rotation ✅
D. Packaging

✅ Robot Arm – SET 3 (25 MCQs)

1. What is the main function of a robot arm’s wrist?

A. Provide linear motion
B. Grip the object
C. Orient the end effector ✅
D. Balance the payload
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2. In robotic joint notation, what does 'RRP' indicate?

A. Random-Rotation-Prismatic
B. Two rotary and one linear joint ✅
C. One revolute and two passive joints
D. Three passive joints

3. Which of the following is a benefit of increased DOF in robot arms?

A. Lower power usage
B. Higher speed
C. Greater flexibility and motion range ✅
D. Less programming complexity

4. In a mechanical arm, which component is responsible for movement between links?

A. Sensor
B. Actuator
C. Joint ✅
D. Controller

5. The elbow joint in a robotic arm is typically a:

A. Prismatic joint
B. Revolute joint ✅
C. Passive joint
D. Linear bearing

6. What is the typical number of DOF in a SCARA robot?

A. 2
B. 3 ✅
C. 4
D. 6

7. What is the function of a link in a robotic arm?

A. To hold the sensors
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B. To grip the object
C. To connect joints and transfer motion ✅
D. To store programs

8. Which axis is typically used for roll motion in a wrist joint?

A. X-axis ✅
B. Y-axis
C. Z-axis
D. No specific axis

9. How is pitch motion best described?

A. Rotating about vertical axis
B. Tilting up or down ✅
C. Side-to-side motion
D. Translating back and forth

10. A spherical joint allows motion in:

A. One plane
B. Two axes only
C. Three rotational directions ✅
D. Linear path only

11. Which of the following allows linear extension and retraction?

A. Prismatic joint ✅
B. Rotary joint
C. Spherical joint
D. Passive joint

12. Which notation best describes a robot with three revolute joints?
A. PPP
B. RRP
C. RRR ✅
D. PRP

13. In a robotic arm, what connects the shoulder and wrist?

A. Link segments ✅
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B. End effector
C. Controller
D. Base

14. The motion of a robotic wrist along the Z-axis is typically called:
A. Yaw
B. Slide
C. Roll ✅
D. Pitch

15. In robotics, how is “yaw” defined?

A. Rotation about X-axis
B. Rotation about Y-axis
C. Rotation about vertical axis (Z-axis) ✅
D. Vertical up and down motion

16. In a 6-DOF arm, how many joints typically belong to the wrist?
A. 1
B. 2
C. 3 ✅
D. 4

17. Which of the following motions does NOT occur in a standard robotic wrist?
A. Roll
B. Yaw
C. Compression ✅
D. Pitch

18. The robotic shoulder joint is most commonly of which type?

A. Spherical
B. Fixed
C. Revolute ✅
D. Prismatic

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19. The movement between base and shoulder in robots is primarily handled by:
A. End effector
B. Wrist
C. Base rotation joint ✅
D. Touch sensor

20. What is the role of a 'universal joint' in robotic systems?

A. Linear motion
B. Two-axis rotation ✅
C. Position holding
D. End effect gripping

21. What type of joint is used for rotation with flexibility in more than one plane?
A. Prismatic
B. Universal ✅
C. Fixed
D. Revolute

22. Which DOF allows a robotic arm to spin its tool about its own axis?
A. Yaw
B. Roll ✅
C. Slide
D. Pitch

23. Which component in the robot arm enables the rotational motion for joints?
A. Actuator ✅
B. Link
C. Sensor
D. Gripper

24. A PPP configuration robot is likely to provide which kind of movement?

A. All rotary
B. All linear ✅
C. Only spherical
D. Combination

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25. The DOF of the wrist helps in:

A. Lifting the object
B. Sensing heat
C. Orienting the end tool ✅
D. Programming path

✅ Robot Arm – SET 4 (25 MCQs)

1. Which part of a robot defines the structure and mechanical frame of the arm?
A. Controller
B. Joint
C. Link ✅
D. End Effector

2. What is the minimum DOF required to reach any position in a 3D space?

A. 2
B. 3 ✅
C. 4
D. 6

3. In joint notation, 'PRP' represents which of the following?

A. Prismatic-Revolute-Prismatic ✅
B. Pitch-Roll-Pitch
C. Parallel-Reset-Position
D. Pivot-Rotary-Pitch

4. What joint type is used for up and down linear motion?

A. Revolute
B. Prismatic ✅
C. Spherical
D. Helical

5. What does "yaw" refer to in robotic motion?

A. Tilting forward
B. Rotating sideways (left/right) ✅
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C. Twisting the wrist
D. Bending upward

6. The combination of multiple joints and links forms the:

A. Wrist
B. Gripper
C. Manipulator ✅
D. Base

7. Which type of robot arm joint mimics the motion of a drawer sliding open and closed?
A. Revolute
B. Spherical
C. Prismatic ✅
D. Roll

8. How many DOF are typically assigned to the robot body and arm (excluding wrist)?
A. 2
B. 3 ✅
C. 4
D. 6

9. What is the main function of revolute joints in robots?

A. Lift loads
B. Sense position
C. Provide rotary motion ✅
D. Store data

10. Which axis does the pitch movement typically occur around?
A. X-axis ✅
B. Y-axis
C. Z-axis
D. All axes

11. A robot with RRP configuration is most suitable for:

A. Linear printing
B. Assembly operations ✅
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C. Vision inspection
D. Painting

12. What kind of joint is commonly used in robotic elbows?

A. Prismatic
B. Revolute ✅
C. Helical
D. Fixed

13. Which of the following DOF is related to circular spinning motion?

A. Yaw
B. Roll ✅
C. Pitch
D. Slide

14. In robotic joint design, passive joints are used for:

A. Providing active torque
B. Allowing natural movement ✅
C. Measuring velocity
D. Driving the actuator

15. In a 6-DOF robot, how many joints are usually assigned to positioning?
A. 1
B. 2
C. 3 ✅
D. 4

16. A joint with both pitch and yaw movements is called:

A. Universal joint ✅
B. Prismatic joint
C. Rotary joint
D. Slide joint

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17. What type of movement is provided by the robotic wrist roll?
A. Side-to-side motion
B. Bending forward
C. Spinning motion ✅
D. Gripping motion

18. A robot’s base typically enables which type of movement?

A. Gripping
B. Linear slide
C. Rotational sweep ✅
D. Tilting

19. Which joint is NOT typically used for orientation control in a wrist?
A. Prismatic ✅
B. Revolute
C. Spherical
D. Universal

20. Which component connects the base to the upper arm in robot anatomy?
A. Forearm
B. Wrist
C. Shoulder joint ✅
D. Gripper

21. A Cartesian robot usually has how many prismatic joints?

A. 1
B. 2
C. 3 ✅
D. 6

22. The primary purpose of joint notation in robotics is to:

A. Reduce robot cost
B. Define robot color
C. Describe joint types and sequence ✅
D. Show sensor positions

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23. Which of the following is NOT a valid joint type?

A. Spherical
B. Revolute
C. Gripper ✅
D. Prismatic

24. Which axis is roll motion generally associated with?

A. Vertical axis
B. Lateral axis
C. Longitudinal axis (X-axis) ✅
D. Transverse axis

25. The more degrees of freedom a robot has, the more it can:
A. Consume energy
B. Move and orient itself flexibly ✅
C. Simplify wiring
D. Avoid programming

✅ Robot Arm – SET 5 (25 MCQs)

1. The number of degrees of freedom (DOF) in a robot defines its:

A. Power usage
B. Speed rating
C. Movement capability ✅
D. Payload limit

2. What is the typical wrist joint configuration to achieve complete orientation?

A. 1 prismatic + 2 revolute
B. 3 revolute ✅
C. 2 revolute + 1 passive
D. 2 prismatic + 1 revolute

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3. A robotic arm with 6 DOF can:
A. Only translate in space
B. Orient tools but not position
C. Reach any position and orientation in 3D space ✅
D. Rotate only in one plane

4. What is the standard unit for measuring joint angles in revolute joints?
A. Radians or degrees ✅
B. Meters
C. Newtons
D. Kilograms

5. Which joint notation represents a combination of linear and rotary movement?

A. PPP
B. RRP ✅
C. RRR
D. PRR

6. The shoulder joint in most robot arms provides which type of movement?
A. Translational
B. Revolute ✅
C. Prismatic
D. Vibrational

7. Which motion allows a robotic arm to spin its tool around its own axis?
A. Roll ✅
B. Pitch
C. Yaw
D. Slide

8. What kind of robot arm movement does a prismatic joint NOT support?
A. Linear motion
B. Sliding
C. Rotary motion ✅
D. Extension

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9. The link between elbow and wrist in a robotic arm is called:
A. End effector
B. Lower arm ✅
C. Wrist joint
D. Gripper

10. What defines the mechanical mobility of a robot arm?

A. Joint stiffness
B. DOF ✅
C. Arm weight
D. Actuator size

11. A robotic wrist has 3 DOF to allow:

A. Position control
B. Tool gripping
C. Full orientation control ✅
D. Vertical motion

12. A robot arm with 4 DOF can:

A. Orient tool fully
B. Move in a 2D plane
C. Position in 3D with limited orientation ✅
D. Only rotate in place

13. Which component is fixed at the base of the robot arm?

A. Joint 3
B. Wrist
C. Shoulder joint ✅
D. Gripper

14. Which of the following robot types uses only prismatic joints?
A. Articulated robot
B. SCARA
C. Cartesian robot ✅
D. Cylindrical robot

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15. What is typically the first joint in any robotic arm?

A. Elbow
B. Wrist
C. Base joint ✅
D. Gripper

16. Which robot arm configuration has high rigidity and repeatability in linear movements?
A. Polar
B. Cartesian ✅
C. Cylindrical
D. Articulated

17. What is the main limitation of a 2-DOF robotic arm?

A. Cannot lift heavy loads
B. Cannot move in vertical plane ✅
C. Cannot sense objects
D. Too fast in movement

18. The yaw motion allows a robotic wrist to:

A. Spin around the forearm
B. Tilt upward/downward
C. Rotate left and right ✅
D. Move linearly

19. A robotic joint capable of continuous rotation is known as a:

A. Prismatic joint
B. Fixed joint
C. Revolute joint ✅
D. Passive joint

20. What does a universal joint allow?

A. Only vertical motion
B. Rotation in multiple axes ✅

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C. Fixed movement
D. Continuous extension

21. How many independent movements can a 6-DOF arm perform?

A. 3
B. 4
C. 6 ✅
D. 9

22. In robot design, what is meant by redundancy?

A. Extra weight
B. More DOF than needed ✅
C. Duplicate motors
D. Joint reprogramming

23. A wrist that can perform pitch and roll but not yaw has how many DOF?
A. 1
B. 2 ✅
C. 3
D. 4

24. Which wrist DOF is used to align the tool to the correct vertical direction?
A. Yaw
B. Roll
C. Pitch ✅
D. Slide

25. The axis of motion in a prismatic joint is always:

A. Curved
B. Linear ✅
C. Rotational
D. Circular

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🧠 Topic: Classification of Robots

Covers:

 Types: Cartesian, Cylindrical, Spherical, SCARA (Horizontal Articulated), Vertical Articulated

 Concepts: Work Envelope, Work Volume
 Intro: PUMA Robot

I will now begin preparing Set 1 of 25 MCQs (non-repeating, syllabus-based). Let’s get started:

✅ Classification of Robots – Set 1 (25 MCQs)

1. Cartesian robots have:

A. Cylindrical coordinate motion
B. Revolute joints
C. Linear movement along X, Y, and Z axes ✅
D. Spherical rotation

2. Which robot type is best for pick-and-place tasks in straight-line motion?

A. Cylindrical
B. Cartesian ✅
C. Spherical
D. Vertical articulated

3. What defines a robot’s work envelope?

A. Its cost
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B. Area covered by its controller
C. 3D space it can reach ✅
D. Power consumed

4. A SCARA robot is ideal for:

A. Vertical welding
B. High-speed horizontal assembly ✅
C. Deep hole drilling
D. Painting

5. Which robot type uses a rotary base and linear vertical motion?
A. Cylindrical ✅
B. SCARA
C. Cartesian
D. PUMA

6. Spherical robots have:

A. 3 prismatic joints
B. A spherical-shaped end effector
C. A revolute + prismatic + revolute joint combo ✅
D. No rotary motion

7. Vertical articulated robots are similar to:

A. Spherical motion
B. Human arms ✅
C. Fixed axis machines
D. Cartesian systems

8. The work volume of a SCARA robot is typically shaped like a:

A. Cube
B. Cylinder
C. Doughnut ✅
D. Sphere

9. Which robot type provides movement in a cylindrical coordinate system?

A. Cartesian
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B. Cylindrical ✅
C. SCARA
D. Spherical

10. What does SCARA stand for?

A. Selective Circular Arm Robot Arrangement
B. Selective Compliance Assembly Robot Arm ✅
C. Speed Controlled Auto Robotic Arm
D. Serial Controlled Articulated Robot Axis

11. What is a unique feature of SCARA robots?

A. Full 6-axis control
B. Compliance in vertical direction
C. Compliance in horizontal plane ✅
D. No rotation

12. Which robot type has the largest and most flexible work envelope?
A. Cartesian
B. Cylindrical
C. Vertical articulated ✅
D. SCARA

13. Which type of robot is most often used for welding in automotive industry?
A. SCARA
B. Spherical
C. Cartesian
D. Vertical articulated ✅

14. The motion of a cylindrical robot is formed by:

A. Three revolute joints
B. Two linear and one rotary motion ✅
C. Pure prismatic motion
D. Spherical sweep

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15. Which robot has an arm that can rotate at the base and extend up and down?
A. Cylindrical ✅
B. Cartesian
C. SCARA
D. Spherical

16. The term "work envelope" refers to the:

A. Robot’s accuracy level
B. Cost to operate
C. Reachable space by end effector ✅
D. Communication protocol

17. PUMA robot stands for:

A. Programmable Universal Machine Arm ✅
B. Pre-Used Machine Arm
C. Professional Unit for Motion Automation
D. Pulse Unit Motion Axis

18. PUMA robots are widely used in:

A. Medical surgery
B. Assembly and industrial automation ✅
C. Space exploration
D. Underwater operations

19. Which robot uses X, Y, and Z axis exclusively?

A. Cartesian ✅
B. SCARA
C. Cylindrical
D. Spherical

20. Which robot is best suited for circular insertion tasks like fitting parts into holes?
A. SCARA ✅
B. Cartesian
C. Cylindrical
D. Vertical articulated

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21. What shape does a spherical robot's work envelope resemble?

A. Cube
B. Cylinder
C. Sphere or dome ✅
D. Pyramid

22. Vertical articulated robots consist mainly of:

A. Only prismatic joints
B. Fixed arms
C. Revolute joints ✅
D. Sliding arms

23. Which type of robot gives precise vertical motion using linear actuators?
A. SCARA
B. Cylindrical ✅
C. Spherical
D. Articulated

24. The key benefit of a Cartesian robot is:

A. Lowest cost
B. Highest speed
C. Simple control and accuracy ✅
D. Compact design

25. Which robot is most commonly found in 3D printing and CNC machines?
A. Spherical
B. Cartesian ✅
C. Cylindrical
D. SCARA

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✅ Classification of Robots – SET 2 (25 MCQs)

1. The work envelope of a Cartesian robot is typically shaped like a:

A. Cylinder
B. Cube or rectangular box ✅
C. Sphere
D. Cone

2. Which robot classification uses a polar coordinate system for motion?

A. SCARA
B. Cylindrical
C. Spherical ✅
D. Cartesian

3. The main advantage of SCARA robots is their:

A. 3D printing compatibility
B. High vertical flexibility
C. Speed and precision in horizontal assembly ✅
D. All-axis compliance

4. PUMA robots are most closely related to which type of classification?

A. Cylindrical
B. Cartesian
C. Vertical articulated ✅
D. SCARA

5. The main motion components of a spherical robot are:

A. Revolute, prismatic, revolute ✅
B. Prismatic only
C. All revolute
D. Linear sliders

6. Which robot is least flexible but very precise for repetitive tasks?
A. Vertical articulated
B. Cartesian ✅

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C. SCARA
D. Cylindrical

7. In robot terminology, "work volume" is defined as:

A. Time taken for full operation
B. The area robot covers per second
C. Total 3D space reachable by the robot ✅
D. Height of the robot

8. A vertical articulated robot mimics the motion of a:

A. Crane
B. Screwdriver
C. Human arm ✅
D. Punching machine

9. Which robot type is best suited for high-precision, low-speed machining?

A. Cartesian ✅
B. SCARA
C. Spherical
D. Cylindrical

10. What differentiates a SCARA robot from a Cartesian robot?

A. Number of motors
B. Motion in horizontal plane ✅
C. Shape of arm
D. Tool weight

11. In PUMA robots, which joint provides shoulder motion?

A. Joint 1 ✅
B. Joint 3
C. Joint 5
D. Joint 6

12. Which of the following is not a characteristic of a cylindrical robot?

A. Rotary base
B. Vertical up/down motion
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C. Horizontal linear motion
D. Spherical rotation ✅

13. Which robot type generally requires the most complex programming?
A. SCARA
B. Cartesian
C. Vertical articulated ✅
D. Cylindrical

14. A spherical robot's arm movement resembles a:

A. Pendulum swing ✅
B. Linear extrusion
C. Crane boom
D. Telescopic lift

15. What limits a robot’s work envelope?

A. Its software
B. Joint types and structure ✅
C. Weight of the tool
D. Speed of actuators

16. Which robot is preferred in injection molding industries?

A. Spherical
B. Cartesian ✅
C. SCARA
D. PUMA

17. The base rotation in a cylindrical robot is provided by a:

A. Prismatic joint
B. Linear rail
C. Revolute joint ✅
D. Fixed support

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18. Which robot configuration is ideal for narrow, enclosed spaces?
A. SCARA
B. Cartesian
C. Vertical articulated ✅
D. Cylindrical

19. Which part of a robot mostly defines its work volume?

A. Controller
B. Gripper
C. Arm structure and joint limits ✅
D. Cable length

20. PUMA robot is a type of:

A. SCARA
B. Serial robot ✅
C. Parallel robot
D. Linear robot

21. A cylindrical robot typically has how many degrees of freedom?

A. 2
B. 3 ✅
C. 4
D. 6

22. A Cartesian robot moves in which coordinate axes?

A. Polar
B. Cylindrical
C. Rectilinear (X, Y, Z) ✅
D. Circular

23. SCARA robots are best avoided for tasks that need:
A. Vertical insertion
B. Horizontal movement
C. Complex 3D orientations ✅
D. Component placement

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24. The acronym PUMA was developed by which company?
A. Siemens
B. Staubli
C. Unimation ✅
D. Mitsubishi

25. Which robot classification combines both rotary and linear motion in a vertical column design?
A. Cartesian
B. Cylindrical ✅
C. SCARA
D. Spherical

✅ Classification of Robots – SET 3 (25 New MCQs)

Topic Scope: Cartesian, Cylindrical, Spherical, SCARA, Vertical Articulated, Work Envelope, Work
Volume, PUMA Robot
(No repeats from Sets 1 & 2)

1. Which robot is best suited for moving loads in a rectangular workspace?

A. SCARA
B. Cylindrical
C. Cartesian ✅
D. Spherical

2. The workspace boundary within which a robot operates is known as:

A. Safety limit
B. Control zone
C. Work envelope ✅
D. Load zone

3. SCARA robots are commonly used in:

A. Pallet stacking
B. Horizontal assembly and pick & place ✅

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C. Painting
D. Pipe welding

4. PUMA robot joints are made up of mainly:

A. Hydraulic actuators
B. Only prismatic joints
C. Revolute joints ✅
D. Helical gears

5. The motion pattern of a cylindrical robot resembles:

A. A cube
B. A column or pipe ✅
C. A dome
D. A triangle

6. The joint configuration of a SCARA robot includes:

A. All prismatic
B. Revolute joints in horizontal and vertical axis ✅
C. Spherical joints
D. Linear-only joints

7. Which robot type is structurally the most rigid for vertical loads?
A. SCARA
B. Cartesian ✅
C. Spherical
D. Vertical articulated

8. A PUMA robot is most likely to be used for:

A. Medical diagnostics
B. CNC machining
C. Industrial part handling and welding ✅
D. Underwater exploration

9. Which robot provides circular motion and telescopic extension?

A. SCARA
B. Cylindrical ✅
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C. Cartesian
D. Spherical

10. The shape of a vertical articulated robot’s workspace is typically:

A. Square
B. Cylindrical
C. Irregular curved volume ✅
D. Conical

11. Which type of robot has revolute joints in every link?

A. SCARA
B. Cylindrical
C. Vertical articulated ✅
D. Cartesian

12. In Cartesian robots, motion is restricted to:

A. Angular displacement
B. Curved axis
C. Linear movement along three perpendicular axes ✅
D. Diagonal motion

13. The compliance of SCARA robots is beneficial in:

A. Vertical pushing
B. Angular welding
C. Horizontal insertion tasks ✅
D. Robotic vision

14. What is a defining feature of spherical robots?

A. Only sliding joints
B. Telescopic arms
C. Rotation and radial extension ✅
D. Fixed grippers

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15. What kind of work envelope does a Cartesian robot produce?
A. Rectangular box ✅
B. Dome-shaped
C. Circular arc
D. Cone

16. Which of the following robots is least suited for tasks requiring orientation in 3D?
A. Vertical articulated
B. PUMA
C. SCARA ✅
D. Spherical

17. Which robot type generally occupies the most floor space?
A. SCARA
B. Spherical
C. Cartesian ✅
D. Cylindrical

18. The origin of the term "PUMA" relates to its:

A. Flexible nature
B. Arm geometry
C. Universal applicability ✅
D. Brand color

19. Which robot provides only planar (2D) motion with vertical axis translation?
A. Cartesian
B. Cylindrical
C. SCARA ✅
D. Articulated

20. Which robot is best for laser cutting in flat sheet metal?
A. Cylindrical
B. Cartesian ✅
C. SCARA
D. Vertical articulated

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21. PUMA robots are usually configured with how many joints?
A. 4
B. 5
C. 6 ✅
D. 3

22. What limits the outer boundary of a robot’s work envelope?

A. End effector size
B. Arm reach and joint range ✅
C. Payload weight
D. Sensor calibration

23. What is the key drawback of vertical articulated robots?

A. Complex programming ✅
B. Low speed
C. High rigidity
D. Weak structure

24. Which robot uses all revolute joints and is serial in structure?
A. Cylindrical
B. Cartesian
C. Vertical articulated ✅
D. SCARA

25. Which robot type can best follow a curved, multi-directional welding path?
A. Cartesian
B. SCARA
C. Vertical articulated ✅
D. Cylindrical

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✅ Classification of Robots – SET 4 (25 MCQs)

1. The Cartesian robot’s structure is typically:

A. Cylindrical-shaped
B. Polar-shaped
C. Rectangular and rigid ✅
D. Dome-shaped

2. Which robot is best known for vertical insertion accuracy?

A. SCARA
B. Cartesian
C. Cylindrical
D. Vertical Articulated ✅

3. In spherical robots, which joint provides radial arm extension?

A. Revolute
B. Prismatic ✅
C. Spherical
D. Passive

4. The term “selective compliance” in SCARA robots means:

A. Flexibility in all directions
B. High rigidity
C. Flexibility in horizontal plane only ✅
D. Compliance with ISO

5. Which robot is typically used in CNC machine loading?

A. Cylindrical
B. Cartesian ✅
C. SCARA
D. Spherical

6. PUMA robots were initially developed by:

A. FANUC
B. Unimation ✅
C. Mitsubishi
D. Staubli

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7. The workspace of a spherical robot is limited by:

A. Z-axis stroke
B. End effector length
C. Radial arm range and angular rotation ✅
D. Payload weight

8. Which of the following robots has a revolute base and vertical prismatic movement?
A. Cartesian
B. SCARA
C. Cylindrical ✅
D. Vertical Articulated

9. SCARA robots have how many degrees of freedom typically?

A. 2
B. 3 ✅
C. 5
D. 6

10. What is the primary advantage of articulated robots?

A. Fixed motion paths
B. Simplified programming
C. High flexibility and reach ✅
D. Limited workspace

11. A robot's “work volume” is the:

A. Amount of work it can do per hour
B. Load capacity
C. Total reachable 3D space ✅
D. Battery life

12. Which robot is preferred for curved surface painting tasks?

A. Cartesian
B. SCARA
C. Cylindrical
D. Vertical Articulated ✅

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13. Cartesian robots operate on how many linear axes?

A. One
B. Two
C. Three ✅
D. Four

14. The structure of a vertical articulated robot includes:

A. Prismatic joints only
B. Fixed arms
C. Multiple revolute joints ✅
D. Spherical connectors

15. What determines the work envelope shape of a SCARA robot?

A. Vertical reach
B. Arm length and joint limits ✅
C. Payload weight
D. Electrical wiring

16. Which robot operates like a polar coordinate system?

A. Cylindrical
B. SCARA
C. Spherical ✅
D. Cartesian

17. Which axis motion is absent in a basic SCARA robot?

A. Horizontal rotation
B. Vertical translation
C. Z-axis rotation ✅
D. Radial extension

18. PUMA robots are best classified under:

A. SCARA
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B. Parallel robots
C. Articulated robots ✅
D. Cylindrical

19. Which type of robot has the most complex joint control algorithms?
A. SCARA
B. Cartesian
C. Vertical Articulated ✅
D. Cylindrical

20. Which of the following robots has a doughnut-shaped workspace?

A. Cartesian
B. SCARA ✅
C. Cylindrical
D. PUMA

21. What makes SCARA robots ideal for assembly?

A. Large vertical flexibility
B. Circular arm motion
C. High-speed horizontal movement ✅
D. Random path execution

22. A robot with 3 linear axes and a rigid frame is:

A. Cylindrical
B. Cartesian ✅
C. Spherical
D. SCARA

23. The PUMA robot typically has how many revolute joints?
A. 3
B. 4
C. 6 ✅
D. 2

24. In robot selection, work volume is critical for:

A. Choosing controller size
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B. Estimating battery life
C. Determining placement area ✅
D. Selecting motor speed

25. Which of the following is a limitation of cylindrical robots?

A. Cannot move linearly
B. Complex structure
C. Limited reach in angular direction ✅
D. Cannot be automated

✅ Classification of Robots – SET 5 (25 MCQs)

1. Which robot type uses linear movement in all three axes?

A. SCARA
B. Cartesian ✅
C. Cylindrical
D. Spherical

2. The vertical articulated robot achieves high flexibility due to:

A. Fixed arms
B. All prismatic joints
C. Multiple revolute joints ✅
D. Vertical tracks

3. SCARA robots are limited in:

A. Speed
B. Horizontal motion
C. Vertical compliance ✅
D. Accuracy

4. Which coordinate system does a spherical robot follow?

A. Rectangular
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B. Cylindrical
C. Polar ✅
D. Linear

5. A robot with RPP joint configuration is likely a:

A. SCARA robot
B. Cylindrical robot ✅
C. Spherical robot
D. Articulated robot

6. The main limitation of Cartesian robots is:

A. Low accuracy
B. Restricted to 2D
C. Large footprint ✅
D. Inconsistent movement

7. The shape of the work envelope of a spherical robot is most like a:

A. Rectangular prism
B. Hollow cylinder
C. Dome ✅
D. Cone

8. PUMA robots are generally used in:

A. Heavy-duty outdoor work
B. Underwater robotics
C. Industrial automation ✅
D. Military drones

9. A SCARA robot’s base motion is typically:

A. Prismatic
B. Pivoting (revolute) ✅
C. Fixed
D. Floating

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10. The working range of a robot depends on:
A. Controller program
B. Material of the gripper
C. Link lengths and joint limits ✅
D. Battery type

11. The key benefit of a Cartesian robot is:

A. High cost
B. Complex motion
C. Simple programming and control ✅
D. Compact layout

12. Which robot type is ideal for stacking objects vertically in narrow spaces?
A. Cylindrical ✅
B. SCARA
C. Spherical
D. Cartesian

13. Which robot can achieve the most natural, human-like motion?
A. Cartesian
B. SCARA
C. Vertical articulated ✅
D. Cylindrical

14. Which robot cannot rotate its end-effector in 3D space?

A. Articulated
B. Spherical
C. Cartesian ✅
D. PUMA

15. A cylindrical robot has which combination of movements?

A. RRR
B. PRP ✅
C. PPP
D. RRP

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16. The work volume of a robot is determined by its:

A. Joint noise
B. Arm speed
C. Mechanical structure ✅
D. Electrical wiring

17. Which robot type is most sensitive to deflection during high-speed operations?
A. Cartesian ✅
B. SCARA
C. Cylindrical
D. Spherical

18. The motion of a SCARA robot is restricted to:

A. 2D vertical planes
B. Circular arcs and vertical stroke ✅
C. Random direction
D. Zig-zag motion

19. The earliest PUMA robot was developed for:

A. NASA
B. Automotive assembly ✅
C. Military use
D. Agriculture

20. Which robot has the most complex kinematic equations?

A. Cartesian
B. Cylindrical
C. Articulated ✅
D. SCARA

21. Cylindrical robots are best suited for:

A. Curved path tracing
B. Precision machining

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C. Vertical stacking and insertion ✅
D. Welding on irregular surfaces

22. What joint combination best describes a spherical robot?

A. RRR
B. RPR ✅
C. RRP
D. PPP

23. Which type of robot can be ceiling-mounted for space-saving design?

A. Cartesian
B. SCARA ✅
C. Cylindrical
D. Articulated

24. What determines the shape of a robot’s work envelope?

A. Power supply
B. Robot color
C. Joint types and physical constraints ✅
D. Programming language

25. The PUMA robot is classified as a:

A. Parallel robot
B. Linear slide robot
C. Serial articulated robot ✅
D. Mobile robot

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