1. Explain the importance of the following aspects of robots.(i) Programming aspect(ii) Actuators2.Classify robots based on their basic geometrical configurations and explain each class.3. (i) What do you understand by work envelope of a robot?Sketch the top view of the work envelope of a SCARA robot.(ii) Explain the term trajectory planning as used in robot arm control.4. With the aid of a simple sketch, define the four Denavit – Hartenberg (D-H) link parameters.5. The figure represents the free body diagram of a proposed four bar linkage robot gripper from where the shown governing equation has been deduced. Explain any assumptions made with regard to;(i) the weights of the various parts of the gripper(ii) horizontal and vertical gripping of the object6. List four technical and four non-technical considerations in the selection of robots.ENDCat 21. Draw a block diagram of a typical servo robot control system.2. Autonomously guided flexible-link robotic manipulators are mechanical devices whose control can be rather challenging, among other reasons because of their intrinsic underactuated nature. Explain in detail two common methods used to obtain a dynamic model for such robots.3. The classical motion planning problem asks to find a paththat satisfies obstacle avoidance and other constraints. In several applications it would beadvantageous for a motion planner to reason about constraintsthat must be violated in order to yield a feasible path. Explain any four such constraints.4. Explain four ways in which programming the robot for positional data may be achieved.5. A robotic hand is initially at a point p = [1 1 3 1]T. It is then rotated about z axis by -900, then around its own v axis by 1800, and finally about its own u axis by -900. Find the final location of the robotic arm.6. Explain fivedrawbacks of pneumatic grippers that may necessitate the move to electric grippers.