Differential Equations of Physical Systems and Dynamics of Robotic Mechanisms MCQ

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• An object stationary or moving in a uniform motion w.r.t A will appear to be traveling in a straight path w.r.t B. This apparent path is attributed to Coriolis acceleration.
  ক

  True

  খ

  False
• A gantry robot consists of a manipulator mounted on an overhead system that allows movement only in ________ plane.
  ক

  Horizontal

  খ

  Inclined

  গ

  Vertical

  ঘ

  None of the mentioned
• The lagrangian is defined as:
  ক

  Sum of kinetic energy and hydraulic energy

  খ

  Mechanical energy

  গ

  Difference of kinetic and potential energy

  ঘ

  None of these
• In case of DC servomotor, the back emf is equivalent to an “electric friction” which tends to:
  ক

  Slowly decrease the stability of the system

  খ

  Improve stability of the system

  গ

  Very rapidly decrease the stability of the system

  ঘ

  Have no effect of stability
• Assertion (A): DC servomotors are more commonly used in armature controlled mode than field controlled mode. Reason (R): Armature controlled Dc motors have higher starting torque than fiels controlled motors.
  ক

  Both A and R are true and R is the correct explanation of A

  খ

  Both A and R are true but R is not correct explanation of A

  গ

  A is true but R is false

  ঘ

  A is false but R is true
• Assertion (A): Servomotors have heavier rotors and lower R/X ratio as compared to ordinary motors of similar ratings. Reason (R): Servomotor should have smaller electrical and mechanical time constants for faster response.
  ক

  Both A and R are true and R is the correct explanation of A

  খ

  Both A and R are true but R is not correct explanation of A

  গ

  A is true but R is false

  ঘ

  A is false but R is true
• Gear train in the motor is used to reduce the gear ratio?
  ক

  True

  খ

  False
• For a tachometer, if a(t) is the rotor displacement, e(t) is the output voltage and K is the tachometer constant, then the transfer function is given by:
  ক

  Ks2

  খ

  K/s

  গ

  Ks

  ঘ

  K
• Tachometer feedback in a D.C. position control system enhances stability?
  ক

  True

  খ

  False
• Backlash in a stable control system may cause:
  ক

  Under damping

  খ

  Over damping

  গ

  High level oscillations

  ঘ

  Low level oscillations
• The below figure represents:
  ক

  Lead network

  খ

  Lag network

  গ

  PI controller

  ঘ

  PD controller
• A synchro Transmitter is used with control transformer for:
  ক

  Feedback

  খ

  Amplification

  গ

  Error detection

  ঘ

  Remote sensing
• A tachometer is added to servomechanism because:
  ক

  It is easily adjustable

  খ

  It can adjust damping

  গ

  It reduces steady state error

  ঘ

  It converts velocity of the shaft to a proportional Dc voltage
• Which of the following is an example of an open loop system?
  ক

  Household Refrigerator

  খ

  Respiratory system of an animal

  গ

  Stabilization of air pressure entering into the mask

  ঘ

  Execution of program by computer
• The output of an first order hold between two consecutive sampling instants is:
  ক

  Constant

  খ

  Quadratic Function

  গ

  Ramp Function

  ঘ

  Exponential Function
• Consider a simple mass spring friction system as given in the figure K1, K2 are spring constants f-friction, M-Mass, F-Force, x-Displacement. The transfer function X(s)/F(s) of the given system will be :
  ক

  1/(Ms2+fs+K1.K2)

  খ

  1/(Ms2+fs+K1+K2)

  গ

  1/(Ms2+fs+K1.K2/K1+K2)

  ঘ

  K2/(Ms2+fs+K1)