Lisle auallellazell-allleatall INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA END-OF-SEMESTER EXAMINATION, SEMESTER I, 2008/2009 SESSION KULLIYYAH OF ENGINEERING Programme : MECHATRONICS ENGINEERING Level of Study : UG 4 Time + 9:00 am-12:00 Noon Date: 03 November 2008 Duration: 3 Hrs Course Code : MCT 4140 Section(s) = Course Title: Roboties This Question Paper Consists of 4 (Four) Printed Pages (Including Cover Page) With 6 (Six) Questions, INST) i DO NOT OPEN UNTIL YOU ARE ASKED TO DO SO ‘There are two sections, answer ALL Questions in Section A and ONLY TWO Questions in Section B. Any form of cheating or attempt to cheat is a serious offence which may lead to dismissal. Reviewers: Dr. Roslizar Mat Ali + Dr. Amir Akramin Shafie Approved by : Assoc. Prof. Dr. Md. Raisuddin Khan Head of the DepartmentRobotics MCT 4140 SECTION A: Answer ALL QUESTIONS in this Section QL. [20 marks} (@) Define the following (6 marks) i) Work envelope ii) End-effectors iii) Load carrying capacity. (b) How many degrees of freedom can a human wrist have? What is the purpose of (4 marks) these degree of freedom? (©) Consider two frames {A}, {B} and a point P in Fig. 1. The coordinate vector of (10 marks) the point P in the frame {B} is P= [1 1 1]" Find the coordinate vector of the point P in the frame {A}. Fig. 1 Q2. [20 marks} (a) What are the parameters of a link for kinematic modeling? Which of these parameters are variable and which are constant for (i) revolute joint, and (ii) a prismatic joint? (b)_ Consider the spherical robot arm shown in Fig. 2. i) Find the D-H parameters and fill the parameter table, (6 marks) ii) Write all the A matrices, (8 marks) (6 marks) Of paramsten = ce -s& cH £0 SK Ne 86 LOK we Gn sO O° Sh og g e 6 ° \ ARobotics MCT 4140 Q3. [20 marks} (@) Write the advantages and disadvantages of electric and hydraulic actuators used (8 marks) for robotic manipulators. (b) Draw the block diagram of the hydraulic system with proportional feedback — (6 marks) control scheme. (© A joint of robotic manipulator driven by motor and a 4:1 reduction gear pair. An (6 marks) incremental optical encoder with 1000 pulse/rev attached with the motor. Calculate the resolution of the sensor. SECTI Answer any TWO QUESTIONS from this Section Q4. 20 marks} (a) Find the location and orientation of the frame B after a differential rotation of 0.1 (10 marks) rad. about the y-axis followed by a differential translation of (0.1,0,0.2] _ 001 10 zo’) 1005 By =0 0103 Axz0) ooo de=0-2 3 aAy= 4B Brow = AT BorRobotics MCT 4140 (©) The robot shown in Figure 1 has 3-DOF (RRP), and the transformation matrix °7,, (10marks) is given in symbolic form, as well as in numerical form for a specific location. Derive the Robot Jacobian in symbolic form and numerical form for the given location. ~ a yw CC, -S, -CS, -d,C\S,] 8) 0.354 0.866 0354 0.106 op, [Sz G ~8iSz - 48,8, ]Q]-0612 0500 -0.612 —0.184 “TS 0 4C,¥]| 0707 0 0.707 0.212 o 0 0 1 o 0 o 1 QS. [20 marks} (@)_ Name the sensors that are attached to i) robot and ii) its outside environment. (4 marks) (b) Find the Lagratgian of the two link mechanism with distributed mass shown in (16marks) Fig.3. 74 yak, on oe by Sy aw Fig. 3 Q6. [20 marks] (@)_ What are the advantages and disadvantages of Cartesian-space trajectories? (4 marks) (b) A fifth-order polynomial is to be used to control the motions of the joints of a robot (16 marks) in joint-space. Find the coefficient ofa fifth-order polynomial that allow a joint to go from initial angle of 0° to a final joint angle of 75° in 3 seconds, while the inital and final velocities are zero and initial acceleration and final deceleration degrees/sec™. ENDLess)l dgallelliiyallallacalall INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA END-OF-SEMESTER EXAMINATION, SEMESTER II, 2007/2008 SESSION KULLIYYAH OF ENGINEERING Programme — : MECHATRONICS ENGINEERING Level of Study : UG 4 | Time + 9:00 am-12:00 Noon Date 30 March 2008 Duration: 3 Hrs Course Code: MCT 4140 Sections): 1&2 Course Title: Roboties This Question Paper Consists of 5 (Five) Printed Pages (Including Cover Page) With 6 (Six) Questions. INSTRUCTION(S) TO CANDIDATES. DO NOT OPEN UNTIL YOU ARE ASKED TO DO SO ‘There are two sections, answer ALL Questions in Section A and ONLY TWO Questions in Section B. Any form of cheating or attempt to cheat is a serious offence which may lead to dismissal. : Dr. Roslizer Mat Ali ‘ Dr. Md. Mozasser Rahman Approved by : Assoc. Prof. Dr. Md. Raisuddin Khan Head of the DepartmentRobotics MCT 4140 SECTION A: Answer ALL QUESTIOI QI. (20 marks} (a) Briefly describe the functions of basic components of a robotic system. (6 marks) (b) What are the reference frames attached to robot and its workspace? Draw a (5 marks) appropriate figure to show the frames. (©) Make a chart showing the major industrial applications of robots. (G marks) (@)_ Name the sensors that are attached to i) robot and ii) its outside environment, @ marks) (©) Tabulate the major differences between electric and hydraulic actuators in terms of (3 marks) their suitability for robotic manipulators. Q2. [20 marks} (a) What are the parameters of a link for kinematic modeling? Which of these parameters are variable and which are constant for (i) revolute joint, and (ii) a (8 marks) prismatic joint? How the D-H parameters are measured? (b) Consider the following two links and three joints manipulator. Each joint may (12 marks) rotate or translate. Find a general form of transformation matrix between two successive frames. ——~ *Robotics Q3. [20 marks} (@) 4) Define dexterous workspace and reachable workspace. ii) What are closed form solutions to inverse kinematics problem? Explain the ‘methods for obtaining closed form solution, MCT 4140 (2 marks) (5 marks) () The robot shown in figure 3.1 has 3-DOF (RRP), and the transformation matrix (13 marks) °T, is given in symbolic form, as well as in numerical form for a specific location. 4) Derive the inverse kinematic equations for 0, 8, and ds in symbolic form. ii) Calculate the values of @;, &, and d; for the given location. CC, -S, -CS, -dsC,S,] [m, 0, a, Py ° SiC, C, -SS, -dyS,S,|_|n, 0, a, py Tl ss 0 yy [Im 0, a, , 0 0 0 1 0001 0.354 0.866 0.354 0.106 -0.612 0.500 -0.612 -0.184 0.707 0 = 0.707 0.212Robotics MCT 4140 SECTION B: Answer any TWO QUESTIONS from this Section Q4. [20 marks} (a) What is Jacobian? Explain with the help of an example. (6 marks) (b) The hand frame of a robot with five degrees of freedom, its numerical Jacobian for this instant, and a set of differential motions are given. The robot has a 2RP2R_ (14marks) configuration. Find the new location of the hand after the differential motion: 3.000 0) fda) fot 1005 \ noes -2.0 100} |do,| }-0.1 L T=] 1g gh 2242 4.0 0 Of fas, |=] 005} een o 1010) aa! | o1 -10001 ao,) | 0 QS. (20 marks} > (a) Find the Lagrangian of the two link mechanism with distributed mass shown in Figure 5.1. appar) 4m, : Fig. 5.1Robotics MCT 4140 (b) An object is subjected to the following forces and moments relative to the reference frame: (8 marks) 0.707 0.707 0 2 0 o 1s B= } FT=[l0 0 5 12 20 0] N,N-m. 0.707 -0.707 0 3 0 0 ol Attached to the object is a frame describing the orientation and the location of the object. Find the equivalent forces and torques acting on the object relative to the current frame, Q6. [20 marks} (a) What are the advantages and disadvantages of Cartesian-space trajectories? (4marks) order polynomial joint-space trajectory is ye the initial and final velocities and accelerations are zero. Prove that the fifth (16 marks) (0) = 0, + (0, - 8 )(6r* =15r4 +10r*) where r= and 6, and@, are the position at time fo (initial time) and fy (final i time) respectively. END