Differentiate between a spherical robot and SCARA robot. Construct the transformation matrix to transform a Cartesian robot to Cylindrical than Spherical and finally to Articulated robot.

What do you mean by forward kinematics and reverse kinematics? Draw a 2R planar robot such that first joint lies at the origin of XY plane. Find the values of joint angles ($\Theta_1$ and $\Theta_2$) for the robot when the gripper position is at (3,2). Given that the link lengths are $a_1 = 3$ m and $a_2= 1$ m.

What is lead through programming? Explain the limitations of lead through programming.

Define robot. What are the types of robot configuration? Explain with proper schematic diagram.

Draw schematic diagram of a pneumatic drive system. What are advantages and disadvantages of pneumatic drive system? Explain briefly.

What is gripper? What are the advantages of magnetic gripper over mechanical gripper?

Define the term “Industrial Robot”. Explain the robot subsystems.

What is the difference between SCARA and spherical type of robot? What is Work Envelops? Describe with proper image.

Find the value of joint angle ($\theta_1$ and $\theta_2$) for a 2R robot when the gripper position is at (3, 2) and base of the robot is at (0, 0) in an XY plane. Given that the link lengths are $a_1 = 3$m and $a_2=1$m.

What is the difference between a SCARA and spherical type of robot? Construct a joint transformation table for a robot if you want to transform it from (i) Cartesian to Cylindrical (ii) Cylindrical to Spherical (iii) Spherical to Articulated.

Draw a 2R planer robot. Assume the origin of the coordinates is at the center of first joint. Gripper is located at the free end of the second link. Find the value of first and second joint angle for the 2R robot when the gripper position is at (2,2). Given that, length of the first link is 2m and the second link is 1m.

What do you mean by the term "Work Envelop"? Classify them and explain one of them.

Describe various types of joints which are used in robots. Include the figures for each joint.

What is end- effector of a robot? What types of end effectors are available? Explain their function.

Briefly describe any three common configurations for Robot with sketches.