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2a.
b.
3a.
b.
c.
4a.
b.
5a.
b.
c.
6a.
ta.
b.
'c.
8
Note: Answer FIVEfull questions, selecting
at least TWO questionsfrom each part.
PART
_
A
l0ME766
(06 Marks)
(14 Marks)
(10 Marks)
(06 Marks)
(04 Marks)
using Lagrangian formulation.
(12 Marks)
(08 Marks)
Seventh Semester B.E. Degree Examination, Dec.2013 lJan.20l4
Time: 3 hrs.
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1a.
b.
Briefly explain the types of robot.
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Discuss the kine@tics of SCARA manipulator by using link transformation
-u,tir1ro
*u.u.;
Explain the inverse kinernatics for a 3R manipulator;: (10 Marks)
Explain the,follswing robot
joints:
i) Rotary
joint;
ii) Spherical
joint.
Explain the features of Jacobian matrix for a sprial manipulator.
Explain the static's of parallel manipulator.
Illustrate the equation of motio, ne *
fifu*,
2R manipulator
Discuss the inertia of a link Uy uiilg"u rigid body.
b.
,
PID control of a multi link manipulator.
RT-B
..r
PAI
rce schemes. Explain the
joint
space schemes.
Cartesian circular motion planning. Explain.
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(06 Marks)
(08 Marks)
(06 Marks)
Briefly explain the feed back control of a single link manipulator for a firsf order system.
,, r- (10 Marks)
With the help of a neat sketch, explain the working of a brushless D.C. motor. (06 Marks)
Explain the types of actuating system.
tbonnai.xO
Explain the operation principles of a stepper motor and its characteristics. (08 Marks).
',ll
Write short notes on:
LVDT.
Piezoelectric sensors.
Eddy current proximity sensor,
Capacitive sensor.
Optical sensor.
a.
b.
c.
d.
e.
,k{<{<**
(20 Marks)
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