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2.a)

Explain the Hartmanns construction to find the inflection circle for a given
mechanism.
Describe the Bobilliers construction to find the center of curvature when instant
center, Tracer point and the inflection point are known.

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b)

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4.a)
b)

5.a)
b)

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Explain briefly about the mobility criterion for planar mechanisms with an
examples.
With the help of neat sketches describe the type of elements and joints of robotic
manipulator.

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b)

8.a)
b)

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1.a)

3.

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R09

Code No: D1501

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
M.Tech II SEMESTER EXAMINATIONS APRIL/MAY-2013
ADVANCED MECHANICS
(MACHINE DESIGN)
Time: 3hours
Max.Marks:60
Answer any five questions
All questions carry equal marks
---

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Explain a method how to design a four bar mechanism by Guiding a body through
three distant positions.

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W
U

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State and explain Freudensteins Collineation axis theorem.

Explain briefly the Halls and Aulfs Auxiliary point method for the analysis of
mechanisms

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State and Explain Roberts theorem with a neat sketch.

Design a four bar function generator for the following data:
1 x 4
y = x 0.8 ;
0
i = 30
i = 500
= 600
= 300

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Prove the Frudensteins equation which synthesizes a four bar mechanism with
usual terms and standard notation.
Design a four bar mechanism which is required such that the crank angles will be
co-ordinated as follows and also find the lengths of links.
degrees 600 300 00
degrees 850 450 200

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Explain D-H notations. Derive the 4x4 D-H transformation matrix.

Selecting the link parameter table, perform the inverse kinematic analysis of a
articulated robotic manipulator
Write a short notes on differential kinematics.
Derive the Jacobian matrix for the planar serial manipulator.

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****

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www.jntuworld.com

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