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You are on page 1of 9

ROBOTICS

( Common to Mechanical Engineering and Production Engineering)

Time: 3 hours

Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

1. Discuss a single station robotic assembly system with the help of an example. [16]

2. Describe the following basic configurations of robotic arms with neat sketches.

Discuss the advantages and disadvantages of the configuration show also the work

space of the arms.

(a) Spherical configuration

(b) Articulated configuration.

[8+8]

3. For the information given in the mechanical gripper design of figure 3. determine

the required actuating force if the gripper force is to be 150 N.

[16]

Figure 3

4. For the figure 4, find the 4 4 homogenous transformation matrices i1 Ai and 0 Ai

for i = 1, 2, 3, 4.

[16]

1 of 3

Set No. 1

Figure 4

5. Consider the three-link articulated robot of figure 5. Derive the forward kinematic

equations using the DH-convention.

[16]

Figure 5

6. Determine the Jacobian of the 2-DOF RR manipulator with L1 6= L2 and show

that

the significant Jacobian is

[16]

L1 S1 L2 S12 L2 S12

J=

L1 C1 + L2 C12

L2 C12

Determine the singularities and joint velocities of this manipulator.

7. Develop the expression for displacement, velocity and acceleration in joint space

2 of 3

Set No. 1

scheme considering the fifth order polynomial fit.

[16]

8. (a) What are the five basic types of reasons sensors are used in a workcell?

(b) A resolver is used to indicate angular position of a rotational wrist joint. The

excitation voltage to the resolver is 24 V. The resolver is directly connected to

the wrist joint. At a certain moment, the two pairs of stator terminals have

VS1 of 10.0V and VS2 of 21.82. Determine the angle of the rotational joint.

[6+10]

3 of 3

Set No. 2

ROBOTICS

( Common to Mechanical Engineering and Production Engineering)

Time: 3 hours

Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

1. (a) What are the sequence of operations of robot in the manufacturing cell? Explain.

(b) What are the various components of the manufacturing cell? Explain the

function of the components in the cell.

[6+10]

2. Discuss the architectural considerations of robotic systems.

[16]

(b) A piston is to be designed to exert an actuation force of 750 pounds on its

extension stroke. The inside diameter of the piston is 50mm, and the ram

diameter is 18.75 mm.What shop air pressure will be required to provide this

actuation force? Use a safety factor of 1.5.

[6+10]

4. In a roll-pitch-roll convention, roll stands for rotation () about z-axis, pitch for

rotation () about new y-axis, and roll again () about new z-axis. The roll-pitchroll geometry can be represented by Euler angles. Show that the overall rotation

matrix RRP R (,

, ) is given by

CCC SS CCS SC CS

RRP R (, , ) = SCC + CS SCS + CC SS

SC

SS

C

where C = cos, C = cos, C = cos, S = sin, S = sin, and S = sin.

[16]

5. Explain the method of Assignment of DH frames with the help of an example and

define the link parameters.

[16]

6. For the 6-DOF Stanford manipulator in figure 6. Obtain the Jacobian.

1 of 2

[16]

Set No. 2

Figure 6

7. For a three-degree of freedom, cylindrical manipulator, design a linear trajectory

with parabolic blends. The initial position of the end-effector is expressed by the

homogeneous

matrix Ts and

position by Tg as

[16]

the goal

1 0 0 50

0 1 0

200

0 1 0 200

1 0 0

100

Tg =

Ts =

0 0 0 400

0 0 1 100

0 0 0

1

0 0 0 1

8. A certain dc servomotor used to actuate a robot joint has a torque constant of 312.5

cm-N/A, and a voltage constant of 1.5 V/Kr/min (1 Kr/min = 1000 rev/min).The

armature resistance = 3.0 . At a particular moment during the robot cycle, the

joint is not moving and a voltage of 30 V is applied to the motor.

(a) Determine the torque of the motor immediately after the voltage is applied.

(b) Determine the back-emf and the corresponding torque of the motor at 500 and

1000 rev/min.

(c) If there were no resisting torques and no inductance of the armature windings operating to reduce the speed of the motor, determine the maximum

theoretical speed of the motor when the input voltage is 30 V.

(d) If the resisting torques due to friction and the payload being carried by the

robot total 900 cm-N, determine the maximum theoretical speed of the motor

when the input voltage is 30 V. Assume no effect of inductance from the

armature windings.

[4+4+4+4]

2 of 2

Set No. 3

ROBOTICS

( Common to Mechanical Engineering and Production Engineering)

Time: 3 hours

Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

(a) Bank Tellers

(b) Garbage collection and Waste disposal

(c) Fast food restaurants.

[6+5+5]

2. Describe the following basic configurations of robotic arms with neat sketches.

Discuss the advantages and disadvantages of the configuration show also the work

space of the arms.

(a) Cartesian configuration

(b) Cylindrical configuration.

[8+8]

3. (a) In what ways do end effectors differ from the human hand ?

(b) A vaccum gripper is to be designed to handle flat plate glass in an automobile

windshield plant. Each plate weighs 175 N. A single suction cup will be

used, and the diameter of the suction cup is 125 mm. Determine the negative

pressure required to lift each plate. Use a safety factor of 2 in your calculations.

[4+12]

4. The homogeneous transformation matrices between frames {i} - { j} and {i} - {k}

are : 0

[16]

1

0

1

0.866

0.500

0

11

1

0

0

0

BB

C

BB

CC

C

B

C

B

CC

0.500

0.866

0

1

0

0.866

0.500

10

j T =B

C; k Ti = BB

i B

CC

B@ 0

C

B

0

1 8 C

0

0.500

0.866

20

A

@

A

0

0

0 1

0

0

0

1

Determine j Tk

5. For a simple elbow manipulator. Table presents the joint parameters. Find the

complete set of inverse kinematics solutions.

[16]

Table:

Joint

d a

1

1 900 0 0

2

2

00

0 a2

0

3

3 90 0 a3

4

4 900 0 a4

5

5 900 0 0

6

6

00

0 0

1 of 2

Set No. 3

6. Develop the expressions for the joint torques of a planar R-R manipulator using

Newton-Euler Formulation.

[16]

7. A single-link robot with a rotary joint is motionless at = -50 . It is desired to

move the joint in a smooth manner to = 800 in 4 seconds. Find the coefficients

of a cubic which accomplishes this motion and brings the arm to rest at the goal.

Plot the position, velocity, and acceleration of the joint as a function of time. [16]

8. A certain dc servomotor used to actuate a robot joint has a torque constant of 312.5

cm-N/A, and a voltage constant of 1.5 V/Kr/min (1 Kr/min = 1000 rev/min).The

armature resistance = 3.0 . At a particular moment during the robot cycle, the

joint is not moving and a voltage of 30 V is applied to the motor.

(a) Determine the torque of the motor immediately after the voltage is applied.

(b) Determine the back-emf and the corresponding torque of the motor at 500 and

1000 rev/min.

(c) If there were no resisting torques and no inductance of the armature windings operating to reduce the speed of the motor, determine the maximum

theoretical speed of the motor when the input voltage is 30 V.

(d) If the resisting torques due to friction and the payload being carried by the

robot total 900 cm-N, determine the maximum theoretical speed of the motor

when the input voltage is 30 V. Assume no effect of inductance from the

armature windings.

[4+4+4+4]

2 of 2

Set No. 4

ROBOTICS

( Common to Mechanical Engineering and Production Engineering)

Time: 3 hours

Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

[16]

2. Describe the following basic configurations of robotic arms with neat sketches.

Discuss the advantages and disadvantages of the configuration show also the work

space of the arms.

(a) Spherical configuration

(b) Articulated configuration.

[8+8]

(b) A part weighting 75 N is to be grasped by a mechanical gripper using friction

between two opposing fingers. The coefficient of static friction is 0.35 and the

coefficient of dynamic friction is 0.20. The direction of the acceleration force

is parallel to the contacting surfaces of the gripper fingers. Which value of

coefficient of friction is appropriate to use in the force calculations? Why?

Compute the required gripper force by assuming a g factor of 2.0.

[4+12]

4. Consider the coordinate frames O, A, B, and C shown in figure 4. where O is the

reference frame. Determine the homogeneous transforms corresponding to frames

A, B, and C with respect to O.

[16]

Figure 4

5. (a) What do you mean by symbolic Notation? Explain.

1 of 2

Set No. 4

[6+10]

6. Develop the expressions for the joint torques of a planar R-R manipulator using

Newton-Euler Formulation.

[16]

7. The motion of a joint from start to goal position is specified in terms of position,

velocity and acceleration at the beginning and end of a path segment. Determine

the coefficients of the fifth-degree (quintic) polynomial for interpolating the smooth

trajectory in the segment.

[16]

8. A certain dc servomotor used to actuate a robot joint has a torque constant of 312.5

cm-N/A, and a voltage constant of 1.5 V/Kr/min (1 Kr/min = 1000 rev/min).The

armature resistance = 3.0 . At a particular moment during the robot cycle, the

joint is not moving and a voltage of 30 V is applied to the motor.

(a) Determine the torque of the motor immediately after the voltage is applied.

(b) Determine the back-emf and the corresponding torque of the motor at 500 and

1000 rev/min.

(c) If there were no resisting torques and no inductance of the armature windings operating to reduce the speed of the motor, determine the maximum

theoretical speed of the motor when the input voltage is 30 V.

(d) If the resisting torques due to friction and the payload being carried by the

robot total 900 cm-N, determine the maximum theoretical speed of the motor

when the input voltage is 30 V. Assume no effect of inductance from the

armature windings.

[4+4+4+4]

2 of 2

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