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rr321302-robotics-and-automation

rr321302-robotics-and-automation

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Published by SRINIVASA RAO GANTA

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Published by: SRINIVASA RAO GANTA on Sep 18, 2008
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Code No: RR321302
Set No. 1
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours
Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
1. Classify the robots based on their di\ufb00erent con\ufb01gurations and discuss their appli-
cations and limitations.
[16]
2. (a) Enumerate the advantages and limitations of Lead through method robot
languages and Textual robot languages.
(b) What is meant by dynamic stabilization of robot? Discuss brie\ufb02y.
[8+8]
3. (a) Compare the electric drives and pneumatic drives for robot manipulator in
respect of the following factors:
i. Availability of component
ii. Space requirement
iii. Input power
iv. Working \ufb02uid
[8]
(b) What are the di\ufb00erent types of servomotors used in robot? Discuss them
brie\ufb02y.
[8]
4. (a) What is machine vision? Explain any one technique of image processing.
(b) Which type of sensor is used to measure the position of the gripper accurately?
Explain brie\ufb02y.
[8+8]
5. Discuss the basic structure of hybrid control system in the manipulator control
system.

[16] 6. Classify the grippers based on contacting surface. Explain any two of them. [16] 7. Explain the di\ufb00erent techniques for \ufb01nding the Inverse kinematics for any manip-

ulator.
[16]
8. (a) State characteristics of work, which promote application of robots.
(b) With the help of simple sketch, explain robot centered work cell.
[8+8]
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
1 of 1
Code No: RR321302
Set No. 2
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours
Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
1. (a) How do you specify a robot? Distinguish between the accuracy and repeata-
bility of a robot.
(b) With the aid of a simple sketch, explain the work envelope of Polar robot
con\ufb01guration.
[8]
2. (a) Explain the various capabilities and limitations of the robot languages.
(b) Discuss critically Asimov?s laws of Robotics with illustration.
[8+8]
3. Name the di\ufb00erent types of Hydraulic drives used in the robots. Describe them
with the help of neat sketches.
[16]
4. (a) What are the di\ufb00erent types of image processing in the machine vision system?
Explain brie\ufb02y.
(b) Distinguish between tactile and non-tactile sensors? Explain examples of each
type.
[10+6]

5. Consider the hybrid control of two-link manipulator shown in \ufb01gure 5 . Both link lengths are 1. Give a detailed computational expression for each block of hybrid control system for the task of moving the manipulator to follow the \ufb02at surface at an inclination of 450. Assume that position sensors measure the joint angles\u03b81 and

\u03b82, and that a force sensor measures the contact-force components in the XH and
YH directions of the hand coordinate frame
\ue000
(OH\u2212 XH YH). Assume also that
KPp= KPp I2, KPd= KPd I2 ,and KFi= KFi I2 .
[16]
1 of 2
Code No: RR321302
Set No. 2
Figure 5
6. (a) Explain the important steps to be considered in gripper selection for handling
fragile and soft objects?
(b) Describe with suitable sketch the working of cam actuated gripper.
[8+8]
7. Discuss any one method to solve problem of multiple solutions for inverse kinematics
problem for Robot.
[16]
8. (a) State characteristics of work, which promote application of robots.
(b) With the help of simple sketch, explain robot centered work cell.
[8+8]
\u22c6 \u22c6 \u22c6 \u22c6 \u22c6
2 of 2

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