# Code No: RR411406

Set No. 1

IV B.Tech I Semester Supplementary Examinations, February 2007 ROBOTICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Explain use of Robots in the ﬁelds of welding and painting. 2. How do you classify robot end-eﬀectors? Discuss in detail. [16] [16]

3. A manipulator is required to move along a straight line from point A to point B, where A and B are respectively described by     0 1 0 20 +1 0 0 5  0 0 1 30   0 1 0 10     A=  0 0 1 15  and B =  1 0 0 5  0 0 0 1 0 0 0 1 The motion from A to B consists of a translation and two rotations. Determine θ, ψ, φ and x, y, z, for the drive transform. Also ﬁnd three intermediate transforms between A and B. [16] 4. For the PUMA 600 robotic arm the joint parameter table is given below: Find 0 T6 . Link Parameter Table of PUMA 600 Link a 1. 0 2. A2 3. a3 4. 0 5. 0 6. 0 α -90 +180 +90 +90 -90 -180 θ θ1 θ2 θ3 θ4 θ5 θ6 d 0 d2 0 d3 0 d6 [16]

5. Find the manipulator Jacobian matrix J (q) of the ﬁve axis spherical co-ordinate robot. [16] 6. Establish the dynamic model of a one -axis Robot (inverted pendulum) with LagrangeEuler formulation. [16] 7. (a) List the types of manipulators employed for traveling from point to point. [4] (b) A single link robot with a rotary joint is motionless at θ0 = 150 . It is desired to move the joint is a smooth manner to θf = 750 in 3 seconds. Find the co-eﬃcients of a cubic which accomplishes this motion and brings the arm to rest at the goal. [12] 8. (a) What are encoders? With a neat sketch explain the working of an incremental encoder. [10] 1 of 2

Code No: RR411406

Set No. 1
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(b) Diﬀerentiate between in incremental and absolute encoders.

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Code No: RR411406

Set No. 2

IV B.Tech I Semester Supplementary Examinations, February 2007 ROBOTICS (Mechatronics) 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. Sketch and explain some linkage mechanisms for mechanical grippers and explain design procedure for any one of them. [16] 3. (a) Brieﬂy explain about the following. i. Homogeneous coordinates ii. Homogenous Transformation. (b) For the point 3i+7j+5k perform the following operation : Translates 6 units along Y then rotate 300 about X. [8] [8]

4. Deﬁne joint vector and explain how position of a manipulator is represented for a 5R-1P manipulator. [16] 5. Find the manipulator Jacobian matrix J (q) of the ﬁve axis spherical co-ordinate robot. [16] 6. Establish the dynamic model of a one -axis Robot (inverted pendulum) with LagrangeEuler formulation. [16] 7. A jointed - arm robot of conﬁguration VVR is to move all three axes so that the ﬁrst joint is rotated through 500 and the second joint is rotated through 900 and the third joint is rotated through 250 . Maximum speed of any of these rotational joints is 100 /sec Ignore eﬀects of accede rations and deceleration. [16] (a) Determine the time required to move each joint if slew motion is used (b) Determine the time required to move the arm to the desired position and the rotational velocity of each joint, if joint interpolated motion is used 8. (a) With a neat sketch explain the construction and working of a pneumatic actuator. [10] (b) What are the advantages of disadvantages of electrical actuators? ⋆⋆⋆⋆⋆ [6]

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Code No: RR411406

Set No. 3

IV B.Tech I Semester Supplementary Examinations, February 2007 ROBOTICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Explain in brief the present industrial applications of Robots. [16]

2. List and discuss the various factors to be considered in the selection of a endeﬀector. [16] 3. (a) Describe the eﬀects of pre-multiplying and post-multiplying points in a given frame by homogeneous transformation. [8] (b) Compute the value of the transformation matrix for the end point of a motion in which a robot moves a container forward by ‘dy’ units in z direction and then dumps out its contents by rotating the about sanuaxin container by 1800 . [8] 4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention for selecting frames of reference in robotic application. [16] 5. Find the joint space singularities of the cylindrical -coordinate robot. Describe the self-motions of the manipulator at singularities if present. [16] 6. Establish the dynamic model of a one -axis Robot (inverted pendulum) with LagrangeEuler formulation. [16] 7. (a) List the types of manipulators employed for traveling from point to point. [4] (b) A single link robot with a rotary joint is motionless at θ0 = 150 . It is desired to move the joint is a smooth manner to θf = 750 in 3 seconds. Find the co-eﬃcients of a cubic which accomplishes this motion and brings the arm to rest at the goal. [12] 8. Under what conditions a hydraulic motor is preferred, compared to stepper or DC servomotor. Brieﬂy explain the functioning of a hydraulic motor. [16] ⋆⋆⋆⋆⋆

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Code No: RR411406

Set No. 4

IV B.Tech I Semester Supplementary Examinations, February 2007 ROBOTICS (Mechatronics) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Explain in brief the present industrial applications of Robots. [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 4i+6j+7k perform the following operations:(a) (b) (c) (d) (e) Rotate 450 about the X axis Rotate 300 about the Y axis Translate 900 units along Y axis Rotate 300 as out Z axis Translate 6 units along Z axis. [3] [3] [3] [3] [4]

4. Perform the forward transformation for the 4-axis SCARA Robot using the following data [16] Link Parameter Table Link a 1. a1 2. a2 3. 0 4. 0 α θ +180 θ1 0 θ2 0 0 0 θ4 d 0 0 d3 0

5. Find the manipulator Jacobian matrix J (q) of the ﬁve axis spherical co-ordinate robot. [16] 6. Explain Direct and Inverse dynamics with a block diagram applied to a simple task. [16] 7. A Cartesian co -ordinate robot of conﬁguration robot of conﬁguration L L L is to move its three axes from position (x, y, z,) = (0, 5, 5) to position (x, y, z) = (20, 35, 15). All distance measures are given in mm the maximum velocities for the three joints are respectively 20 mm/sec 15 mm/sec and 10mm sec Determine the time required to move each joint if slew motion is used. [16] 8. Explain the reasons for choosing a particular kind of actuator? Hydraulic, pneumatic, electrical. Comment on the resolution, speed and force exerted by these systems on the product or object. [16] ⋆⋆⋆⋆⋆ 1 of 1