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rr322403-robotics

rr322403-robotics

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Published by: SRINIVASA RAO GANTA on Sep 18, 2008
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Code No: RR322403

Set No. 1

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS (Automobile Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. State some applications of Robotics in various fields including agriculture, medical and defense areas. [16] 2. Name five different types of robot end effectors. Compare and contrast the end effectors from the viewpoint of their functions. [16] 3. Given a vector ruvw = [6, 4, 2]T with respect to the ouvw coordinates system determine rxyz if ouvw is rotated about z axis by 600 . [16] 4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention for selecting frames of reference in robotic application. [16] 5. Find the manipulator jacobian matrix J (q) of the two-axis planer articulated robot shown in figure5. [16]

Figure 5 6. (a) Explain any one of the obstacle avoidance algorithms in detail. (b) Explain the importance of obstacle avoidance algorithms.

[8+8]

7. What is the difference between resolution and repeatability of robot arm movement? How are they controlled? Does the choice of the drive system determine the resolution and repeatability? Using a table, explain minimum and maximum resolution and repeatability of different types of systems ? hydraulic, pneumatic, electrical? [16] 8. (a) What are the various technical problems for robots in arc welding? Explain. (b) What are the features and capabilities of industrial robots in arc welding? Explain. [8+8] ⋆⋆⋆⋆⋆ 1 of 1

Code No: RR322403

Set No. 2

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS (Automobile Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. What is the future scope of Robotics? Give your views. [16]

2. What do you understand by degrees of freedom (DOF)? How many DOFs are required to position an end-effector at any point in 3-D space? Justify. [16] 3. Determine the equivalent axis and angle of rotation for the following matrix. [16]   0 0 1 0  1 0 0 0   Rot (y, 90) Rot (z, 90) =   0 1 0 0  0 0 0 1 4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention for selecting frames of reference in robotic application. [16] 5. The following is the link parameter table for Anthropomorphic Arm Link a 1 0 2 a2 3 a3 alpha d θ π/2 0 θ1 0 0 θ2 0 0 θ3

Compute the Jacobian matrix for the arm and determine the linear and the angular velocities of the end-effector. [16] 6. State and explain various interpolation schemes used in robot motion. [16]

7. What is the difference between resolution and repeatability of robot arm movement? How are they controlled? Does the choice of the drive system determine the resolution and repeatability? Using a table, explain minimum and maximum resolution and repeatability of different types of systems ? hydraulic, pneumatic, electrical? [16] 8. (a) What are the general considerations in robot material handling? Explain. (b) With the help of an example discuss the application of robot in pick-and-place operations. [8+8]

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Code No: RR322403

Set No. 3

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS (Automobile Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) Define the term ‘Robot’.Explain different Robot types. (b) What is meant by a manipulator having redundant degrees of freedom and its advantages? [8+8] 2. (a) How is a robot end effector specified? (b) What are the design considerations in the robot endeffector for holding the object? [6+10] 3. For the point 4i+6j+7k perform the following operations:(a) Rotate 450 about the X axis (b) Rotate 300 about the Y axis (c) Translate 900 units along Y axis (d) Rotate 300 as out Z axis (e) Translate 6 units along Z axis. [3+3+3+3+4]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention for selecting frames of reference in robotic application. [16] 5. Find the manipulator jacobian matrix J (q) of the two-axis planer articulated robot shown in figure5. [16]

Figure 5 6. Using the 8 x 8 square grid illustrated in figure. show the path taken by a Cartesian coordinate robot if it is directed to move between the following sets of point in the grid using linear interpolation : (a) Point (2,1) and point (6,7) 1 of 2

Code No: RR322403 (b) Point (2,3) and point (8, 4) (c) Point (2,2) and point (7, 5).

Set No. 3
[16]

7. (a) Sketch and explain control loops using voltage amplifier for the robot joint motions mentioning the response equations involved. (b) Differentiate between a DC servomotor and Stepper motor. 8. (a) Discuss the following considerations in robot material handling. i. ii. iii. iv. Part positioning and orientation Minimum distances moved Robot configuration Machine utilization problems. [12+4]

(b) With the help of an example discuss the application of robot in palletizing and depalletizing operations. [16] ⋆⋆⋆⋆⋆

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Code No: RR322403

Set No. 4

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS (Automobile Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. How are Robots useful in materials handling in any organization where a number of materials are to be transferred from one work station to another? [16] 2. Name five different types of robot end effectors. Compare and contrast the end effectors from the viewpoint of their functions. [16] 3. For the point auvw = (6, 2, 4)T perform following operations. [5+5+6]

(a) Rotate 300 about the X axis, followed by translation of 6 units along Y axis. (b) Translate 6 units along Y axis, followed by rotation of 300 about X axis. (c) Rotate 600 about Z axis followed by translation of 10 units along the rotated U axis. 4. Perform the forward transformation for the five axis Rhino XR-3 robot using the following data. [16] Link a 1. 0 2. a2 3. a3 4. a4 5. 0 α −900 0 0 −900 0 θ θ1 θ2 θ3 θ4 θ5 d 10 0 0 0 10

5. Derive the expression for joint torques for a planar R-P robotic manipulator using Lagranze-Euler formulation. [16] 6. Explain the following of the VAL II robot programming language (a) Interlock commands (b) Input / Output controls (c) Program control. [16]

7. With a neat sketch describe the working of an absolute encoder. Explain how the angular position is calculated in an absolute encoder. [16] 8. (a) What are the various difficulties encountered in manual spot welding? Explain. (b) What are the capabilities and features of the robots in spot welding. ⋆⋆⋆⋆⋆ [8+8]

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