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# rr420305-robotics

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05/09/2014

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Code No: RR420305
Set No. 1
IV B.Tech II Semester Supplimentary Examinations, May 2008
ROBOTICS
( Common to Mechanical Engineering and Production Engineering)
Time: 3 hours
Max Marks: 80
All Questions carry equal marks
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
1. (a) Discuss the following future manufacturing applications of robots:
i. Assembly applications
ii. Arc-welding applications
iii. Flexible manufacturing systems.
(b) What are the characteristics of future robot tasks? Explain.
[10+6]
2. Discuss the motor selection in the design of a robotic joint.
[16]
3. For the information given in the mechanical gripper design of \ufb01gure 3. Calculate
the required actuating force Fa.
[16]
Figure 3

4. In a roll-pitch-roll convention, roll stands for rotation (\u03b4) about z-axis, pitch for rotation (\u03bb) about new y-axis, and roll again (\u03b1) about new z-axis. The roll-pitch- roll geometry can be represented by Euler angles. Show that the overall rotation matrixRRP R (\u03b4, \u03bb, \u03b1) is given by

RRP R(\u03b4, \u03bb, \u03b1) =
\ue000
\ue002
C\u03b4C\u03bbC\u03b1\u2212 S\u03b4S\u03b1
\u2212C\u03b4C\u03bbS\u03b1 \u2212S\u03b4C\u03b1 C\u03b4S\u03bb
S\u03b4C\u03bbC\u03b1+ C\u03b4S\u03b1
\u2212S\u03b4C\u03bbS\u03b1+C\u03b4C\u03b1 S\u03b4S\u03bb
\u2212S\u03bbC\u03b1
S\u03bbS\u03b1
C\u03bb
\ue001
\ue003
1 of 2
Code No: RR420305
Set No. 1
where C\u03b4 = cos\u03b4, C\u03bb = cos\u03bb, C\u03b1 = cos\u03b1, S\u03b4 = sin\u03b4, S\u03bb = sin\u03bb, and S\u03b1 = sin\u03b1.
[16]
5. Solve the inverse position kinematics for the cylindrical manipulator of \ufb01gure 5.
[16]
Figure 5
6. (a) De\ufb01ne a geometric Jacobian.
(b) Compute the Jacobian Matrix for a planar R-R robotic manipulator. [4+12]

7. Calculate the parameters for a two-segment linear spline with parabolic blends with acceleration in blend region to be 30 deg/s2 and duration of each segment as 3 seconds. The three path points for the joint are 150, -50 and 300. Plot the trajectory.

[16]
8. (a) Di\ufb00erentiate between incremental encoder and absolute encoder.
[4+4]

(b) For an absolute optical encoder with 10 tracks, determine the value of the encoder constant. If the shaft angle of the encoder were 0.73 rad, determine its output value.

[8]
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
2 of 2
Code No: RR420305
Set No. 2
IV B.Tech II Semester Supplimentary Examinations, May 2008
ROBOTICS
( Common to Mechanical Engineering and Production Engineering)
Time: 3 hours
Max Marks: 80
All Questions carry equal marks
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
1. (a) With the help of an example discuss the application of robot in pick-and-place
operations.
(b) What are the general considerations in robot material handling? Explain.
[10+6]

2. Describe the following basic con\ufb01gurations of robotic arms with neat sketches. Discuss the advantages and disadvantages of the con\ufb01guration show also the work space of the arms.

(a) SCARA
(b) Cartesian.
[8+8]
3. (a) In what ways do end e\ufb00ectors di\ufb00er from the human hand ?

(b) A vaccum gripper is to be designed to handle \ufb02at plate glass in an automobile windshield plant. Each plate weighs 175 N. A single suction cup will be used, and the diameter of the suction cup is 125 mm. Determine the negative pressure required to lift each plate. Use a safety factor of 2 in your calculations.

[4+12]
4. (a) Find the rotation matrix correspondent to the set of Euler angles ZXZ.
(b) What do you mean by equivalent angle and axis? Explain.
[8+8]
5. A robotic manipulator is described by the joint parameters given in Table.
(a) Completely set up and draw the coordinate frames with a proper scale.
(b) Solve the inverse kinematics problem for the joint angles\u03b81 , \u03b82 , \u03b83 , \u03b84, \u03b85, and \u03b86.
[16]
Table:
Joint i\u03b8
\u03b1
a d
1
\u03b81
\u2212900
0d1
2
\u03b82
00
a2
0
3
\u03b83
00
a3
0
4
\u03b84
\u2212900
a4
0
5
\u03b85
900
0d5
6
\u03b86
00
0d6
6. (a) Develop the general expression for the Kinetic energy of a Robot manipulator.
1 of 2