Code: R7411306

R07
ROBOTICS & AUTOMATION (Electronics & Control Engineering)

B.Tech IV Year I Semester (R07) Supplementary Examinations December/January 2013/14

Time: 3 hours Answer any FIVE questions All questions carry equal marks ***** 1

Max. Marks: 80

What do you mean by Jacobian? Derive the Jacobian matrix for a planar 2 link revolute jointed manipulator. (a) What is dynamic stabilization of robotics? (b) Draw and explain basic architecture of robotics. (a) Explain the REACT statement of robot languages, which is used to monitor an incoming signal and to respond to a change in the signal. (b) Discuss the important characteristics of robot oriented language motion specifications. (a) A part weighing 8 lb is to be held by a gripper using friction against two opposing fingers. The coefficient of friction between the finger and the part surface is estimated to be 0.3. The orientation of the gripper will be such that the weight of the part will be applied in a direction parallel to the contacting finger surfaces. A fast work cycle is anticipated so that the g factor to be used in force calculations should be 3.0. Compute the required gripper force for the specifications given. (b) A vacuum gripper is to be designed to handle flat plate glass in an automobile wind shield plant. Each plate weighs 28 lb. A single section cup will be used and the diameter of the suction cup is 60 in. Determine the negative pressure required (compared to atmospheric pressure of 14.7 lb / sq.in) to lift each plate. Use a safety factor of 1.5 in your computation. (a) Explain determination HP of motor and gearing ratio. (b) Write about electric drives. (a) Discuss the construction details of manipulators. (b) Express manipulator dynamic and force control. (a) What are hill climbing techniques? Explain in details. (b) With an example explain multiple solutions. Explain with a neat diagram robot cell design selection of robot.

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