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Set No.

Code No: RR420305

IV B.Tech II Semester Supplimentary Examinations, Apr/May 2009


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]

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Set No. 1

Code No: RR420305

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
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Set No. 1

Code No: RR420305


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]

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Set No. 2

Code No: RR420305

IV B.Tech II Semester Supplimentary Examinations, Apr/May 2009


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]

3. (a) What are the three classifications of an end effector?


(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.

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[16]

Set No. 2

Code No: RR420305

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

Code No: RR420305

IV B.Tech II Semester Supplimentary Examinations, Apr/May 2009


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 the following future applications of robots in service industries


(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
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Set No. 3

Code No: RR420305

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

Code No: RR420305

IV B.Tech II Semester Supplimentary Examinations, Apr/May 2009


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 parallel 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. (a) What are the two major categories of end effectors?


(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.
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Set No. 4

Code No: RR420305

(b) Derive the Denavit and Hartenberg 44 transformation matrix.

[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