Code: 9A13701

1
ROBOTICS AND AUTOMATION
(Common to E.Con.E and EIE)

B.Tech IV Year I Semester (R09) Regular & Supplementary Examinations December/January 2013/14

Time: 3 hours Answer any FIVE questions All questions carry equal marks ***** 1 2

Max. Marks: 70

Discuss the anatomy of robot. Explain the important parts of a robot with a neat sketch. Explain briefly about: (a) Pneumatic drives (b) Tactile sensors (c) Fiber optic sensors Define gripper. Explain about mechanical grippers. Explain the two ways of constraining the part in gripper. Explain briefly about: (a) Electronic manipulators (b) Pneumatic manipulators (a) Describe the general properties of inverse kinematic problems. (b) What are the different hill climbing techniques? Explain one method. (a) Explain in detail about different software packages available for robotics. (b) Explain briefly about robot programming. Explain the applications of robots in manufacturing and non-manufacturing units. Derive an expression for the derivative of a time varying rotation matrix with respect to time in terms of skew symmetric matrix and itself.

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Code: 9A13701

2
ROBOTICS AND AUTOMATION
(Common to E.Con.E and EIE)

B.Tech IV Year I Semester (R09) Regular & Supplementary Examinations December/January 2013/14

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

Max. Marks: 70

A part weighing is to be grasped by a mechanical gripper using friction between and the coefficient of two opposing fingers. The coefficient of static friction is dynamic friction is The direction of acceleration force is parallel to the contacting surfaces of the gripper fingers. Which value of the coefficient of friction is appropriate to use in the force calculations. Why? Compute the required gripper force assuming that the g-factor of is applicable. Define robot. Explain the laws of Asimov. Classify the robots based upon the coordinate system. Explain the principle of working of inductive type proximity sensing with the help of neat sketches. (a) Explain the differences between robot programming and traditional programming. (b) A single cubic trajectory is given by and is used over a time interval from What are the starting and final positions, velocities and accelerations? Discuss briefly material transfer applications of robot. Explain the variable structure systems for the control of manipulators. Explain the method of expressing the translational velocities of an object moving in space. How does direct kinematics differ from inverse kinematics? Discuss Euler angle representation for orientation.

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Code: 9A13701

3
ROBOTICS AND AUTOMATION
(Common to E.Con.E and EIE)

B.Tech IV Year I Semester (R09) Regular & Supplementary Examinations December/January 2013/14

Time: 3 hours Answer any FIVE questions All questions carry equal marks ***** 1 2 Give the detailed classification of robot arm based on motion control.

Max. Marks: 70

Draw the control circuit of the two d.o.f planar robot with pneumatic actuator control circuit. Explain the procedure. (a) Discuss about the three laws of robotics. (b) Explain the polar coordinate robot with a neat sketch. Make a list of laminations of two dimension vision systems. Explain in detail about Euler formations with an example. What are the different hill climbing techniques? Explain any three methods. Explain the applications of robots in manufacturing and non-manufacturing applications. Explain the different languages and software packages available for robots.

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Code: 9A13701

4
ROBOTICS AND AUTOMATION
(Common to E.Con.E and EIE)

B.Tech IV Year I Semester (R09) Regular & Supplementary Examinations December/January 2013/14

Time: 3 hours Answer any FIVE questions All questions carry equal marks ***** 1 2 Define robot. Explain the classification of robotics in detail.

Max. Marks: 70

Explain the principle of working of inductive type proximity sensing with the help of neat sketches. Explain the force control tasks with neat sketches. Derive an expression for the linear velocity of a link as a function of translational and rotational velocities of link -1 of a manipulator. What do you mean by mechanical gripper? Explain the two ways of constraining the part in gripper. Find the direct kinematic equations for the two link planar arm shown in figure 1. Obtain the solutions for the inverse kinematics.

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Figure 1. 7 (a) Discuss the characteristics of robot level languages. (b) What are the basic elements of robot languages? Explain. (a) Describe the robot cell design in briefly. (b) Describe the applications of robot in press working operation.

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