JNTU World

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www.alljntuworld.in

JN
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OBJECTIVES
The objective of the course is to enable the student in;
I.
Understanding basic concepts of robots and their development.
II.
To know various configuration of robots used in industry, role of robots in industrial
automation.
III.
Analyze the forces acting on gripper and selection and design of grippers, actuators and
sensors.
IV.
Transformation of motion of robot endeffector with Denavit and Hartenberg parameters.
V.
Euler-Lagrange and Newton-Euler equations of motion are used for finding force and torque
required at each of the joint actuators.
Blooms
Course
S. No.
Question
Taxonomy
Outcomes
Level
UNIT-I
1
Discuss the following types of automation
Understanding
I
i. Fixed automation
2

3

4

5

ii. Flexible automation
Explain the following types of grippers with application
i. Magnetic grippers
ii. Vacuum cups.
a. Draw and explain the four basic configurations of
robot.
b. Explain the different types of joints used in robots with
neat sketch.
a. What are the various factors in gripper’s selection and
design? Explain.
b. What is meant by position and orientation of robot?
Explain RPY representation of orientation.
a. Define manipulator.
b. Describe the types of manipulators generally adopted
for basic motions 5. Establish the mathematical
expressions of forward transformation of a spatial 2
degree of freedom arm. With two revolute joints.

Applying

III

Remembering

I

Applying

III

Understanding

I

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The robots control memory has the following bit storage capacity. A Cartesian co-ordinate robot of configuration L L L is to move its three axes from position (x. For the vector v=25i+10j+20k. W 1 or ld 9 4 5 6 7 I Applying IV Applying IV Analyzing I Understanding II Applying II Applying II Applying III Applying III a. b.alljntuworld. Explain the homogeneous transformation matrix and interprete the partitioning with application. Discuss the gripper design considerations in robotics. Sketch the frame.35.y. All distance measures are given in mm the maximum velocities for the three joints are respectively 20mm/sec 15 mm/sec and 10mm sec determine the time required to move each joint if slew motion is used. i. b. a. What are the coordinates of the o1 with respect to the original frame in each case. Rotate 300 about x-axis and then translate -5 units along y-axis. Define repeatability. Give Euler angles representation for the RPY system and derive the rotation matrix.5) to position (x. 12 bit storage capacity Determine the control resolution for the two cases separately. b.y. Explain how the performance of robotic system in studied? b.z)=(0.in 6 7 8 JNTU World Write a detailed note about programmable automation. With the applications. Translate 2 units along y-axis and rotate 600 about zaxis For the point auvw=(6. 10 bit storage capacity ii.in) . a. resolution and accuracy. Compare hard automation with soft automation? Understanding I Understanding I Applying I I a.6m. Analyzing 10 a. What is industrial automation? What are its types? b. Explain the importance of homogenous transformations. b. An industrial robot with a prismatic joint has a telescoping range of 0. followed by translation of 6 units anling Y axis. Discuss the advantages and disadvantages of using robots in industry? a. Draw any two Euler angle systems and show rotation and angles.www. Applying 2 JN TU 3 UNIT – II Compute the homogeneous transformation representing a translation of 3 units along the x-axis followed by a rotating of π/2 about the current z-axis followed by a translation of 1 unit along the fixed y-axis. Define a Robot.alljntuworld.4)T perform following operations. Rotate 300 about the X axis. ii. perform a translation by a distance of 8 in the x-direction.2. Translate 6 units along Y axis. 5 in the y-direction and 0 in the z-direction.5. a. followed by rotation Page | 2 Downloaded From JNTU World (http://www. Find the transformation matrices for the following operations on the point ^ ^ ^ 2 i 8 j 3 k 8 i.z)=(20.15).

For the point 3i+7j+5k perform the following operation: Translates 6 units along Y then rotate 300 about X. Explain and derive inverse kinematic solution for the variables of a cylindrical robot. UNIT – III 4 5 6 7 JN TU 8 9 10 11 1 2 III Analysis III Understanding I Applying II Applying II Analyzing II Applying I Applying II Analyzing I Analyzing II Understanding I Applying II Applying II Analyzing I Applying II or 2 3 Write short notes on a. a. Derive the arm matrices for a cylindrical robot. Find an expression for general rotational transformation that rotates a body about arbitrary direction 1≤ k x i k y j +k z k by an angle ϴ.www. write down the transformation matrices for each link and determine the position and orientation of end effector with respect to the base in a Cartesian robot configuration. Homogeneous coordinates ii. Briefly explain about the following i.in) . W 1 Analysis ld 9 JNTU World Compute the Jacobian J11 for the three linked spherical manipulator. DH convention Write short notes on inverse transforms. Derive the kinematic equations for the SCARA robot giving coordinate frame diagram and the kinematic parameters. β and ϴ about x. b. Hence obtain the kinematic equations for the same.alljntuworld. a. Derive the kinematic equation for the elbow manipulator with co-ordinate frame diagram and kinematic parameters. List the steps involved in DH convention. Using DH method and by symbolic sketch. c. a. UNIT – IV Find the manipulator jacobian matrix j(q) of the two-axis planer articulated robot shown in figure. Discuss about direct and inverse kinematics b. Direct and inverse kinematics b. Rotate 600 about Z axis followed by translation of 10 units along the rotated U axis.alljntuworld. Define and illustrate the link and joint parameters.y and z axes respectively. Explain their uses. Homogenous Transformation b. Page | 3 Downloaded From JNTU World (http://www. Explain co-ordinate frame assignment of DH representation. Get Euler angles for system I representation by applying inverse kinematic solution.in 10 of 300 about X axis. Arrive at the rotation matrices for the angle of rotations α.

 2  1   0 B    0  0   0 5 0 . find the rolling. dz.www. dx.5 2 7  0 . Find the new location of the hand after differential motion. dy.1   0  0 . pitching and yawing (Euler angles).6 4 3 0 0 4  6  9  1 Applying IV 0 0 0 1 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0  0  0  0 0  1  0    0 . its numerical jacobian for the instant and a set of differential motion are given. dy.1 0 0 0 0 0 0 0 .alljntuworld. Suppose a Cartesian robot with rolling. The hand frame of a robot with five degrees of freedom.1  0 .1.in Find the 6 x 2 Jacobian for the first three links of a cylindrical manipulator.alljntuworld.5   0  Page | 4 Downloaded From JNTU World (http://www.5   0 .6 2 8 Find the total differential transformation caused by small rotation about three axes of dx=0.05 and dz=0. dy =0. Find the magnitude of the differential changes made (dx.1 0 1 1 0  3 5  2   3 .0 5     0 .4 3 9 0 0 .02 rad. pitching and yawing of the DH matrix given by:  0 .7 6 6  0  6 0 .1  dq     0   0     0 .3 6 9 T     0 .1 dT     0 .1   0    7 As a result of applying a set of differential motion to frame T is given and it has changed about dT is also given.in) . Calculate the linear and angular differential motion of the robot hand.1     0 . 0 0 .8 1 9 0 .B   0 2    0 1  1  0 0 0 0 1 0 4 0 0 1 0 1 0 0 0 JN TU 1  0 T   0  0 0 0 Applying IV Analyzing III Applying II Applying III W 4  0 .6   0 . 1  0 T   0  0 0 0 0 1 1 0 0 0 5  3  8  1 and  0  0 . dz) and the differential operator with respect to T.1   d q   0 .2  and ld The Jacobian of robot at particular time is given.1     0 .5 7 4 or 3 JNTU World 0  0  0  0 0  and  0 .

Explain Newton-Euler formulation of a robotic system. Derive the equation of motion for a single link manipulator given mass and length of link.alljntuworld. JN TU 1 II Express the Jacobian matrix for the robot architecture shown in figure. a. shown in Figure. Give the derivation of Lagrange-Euler formulation for the joint force/torque. Joint velocities Derive the equation of motion for a single link manipulator given the mass and length of the link. What is Lagranjian? b. i. Develop a state model for the single link (single-axis) robot manipulator. Potential energy iii. Express the Jacobian matrix for SCARA robot shown in fig. W 11 Analyzing ld 9 a.in) .in 10 2 3 4 5 6 7 Applying II Applying II Applying II Analysis V Applying V Understanding I Applying II Applying II Applying II Analyzing I Express the Jacobian matrix for the robot architecture shown in figure. Derive the dynamic equation of motion for a Revolute-Prismatic (RP) robot arm manipulator.alljntuworld. Explain the following briefly as applied to robot arm dynamics analysis.www. b. or 8 JNTU World Page | 5 Downloaded From JNTU World (http://www. UNIT – V a. Give derivation of Lagranjian-Euler formulation of joing force/torque for single link manipulator of given length and mass. Kinematic energy ii. What is Jacobian of a robot system? b. Derive the Jacobian matrix for the to 2-link planer manipulator.

A single link rotary robot is required to move from ϴ(0)=450 to ϴ(2)=900 in two seconds.in) . Find the coefficients of a cubic which accomplishes this motion and brings the arm to rest at the goal. Joint space trajectory planning. 600. Establish the dynamic model of a one axis robot (inverted pendulum) with Newton-Euler formulation. Derive a dynamic model for a two axis planar articulated robot given the mass and length of the links W 8 JNTU World Page | 6 Downloaded From JNTU World (http://www. A single link robot with a rotary joint is motionless at ϴ0=150 it is desired to move the joint in a smooth manner to ϴf=750 in 3sec. and joint 3. A single link rotary robot is required to move from ϴ(0)=450 to ϴ(2)=900 in two seconds. What is the highest degree polynomial that can be used to accomplish the motion? Explain the following terms i. Use the following data: ϴ0=20. Using 3rd degree polynomials calculate joint angles at one. All joints travel at a rotation velocity of 150/s. Explain trajectory planning with respect to PTP robot considering modified constant velocity of joint. b. Analysis I Applying V Applying II Understanding II Applying II Understanding II Understanding II or 9 a. 4 a. Explain the Lagrance Euler’s formulation for robot arm. Explain the parameters involved in path planning with 3rd degree polynomial. b.www. 300. Trajectory ii. Enumerate trajectory generation of polynomial type. b. a. One of the joints of articulated robot has to travel from initial angle of 200 to final angle of 840 in 4 seconds. two. b. b.alljntuworld. Find expressions for the joint motion parameters by using cubic polynomial fit in joint space scheme. ϴf=70 t=3seec. Joint velocity and acceleration are zero at initial and final positions. b. Joint velocity and acceleration JN TU 2 3 a.alljntuworld. three seconds. UNIT – VI Determine the time required for each joint of a three-axis RRR manipulator to travel the following distances using slew motion. 1000. joint 2. joint 1. Differentiate clearly with reference to 2-jointed manipulator of RR type and LL type. 5 V ld 10 Applying a.in 1 a.

Motor shaft is connected to a screw shaft with a pitch of 3mm. a. Explain various types of touch sensors with neat sketch. Determine angular velocity of motion and torque in the motor shaft. Determine i. Lead through teaching UNIT – VII a. Explain principle and construction of inductive type proximity sensors. Rotary actuator ii. Linear actuator.alljntuworld. b. a. a. ii. The control resolution 0. Explain the following hydraulic actuator with a neat sketch: i. Explain the parameters involved in the path planning with 3rd degree polynomial. Explain the constructions and operation of ultrasonic ld 6 JNTU World 3 4 5 6 7 8 9 10 Understanding I Understanding I Understanding I Understanding I Understanding I Analyzing II Analyzing I Understanding I Understanding I Understanding I Page | 7 Downloaded From JNTU World (http://www. a. With a neat sketch explain the following hydraulic actuator. b. With a neat sketch explain the tactile sensors and the range sensors. Enumerate trajectory generation polynomial types.6mm is desired for the controller. Pulse rate required to drive the joint with a linear speed 75mm per second. A hydraulic rotary vane actuator is used to drive the revolute joint of cylindrical robot with power source delivery of 27 cc/sec of oil at a pressure of 705N/cm2 the outer and inner vane radius are 10cm and 5cm respectively. With a neat sketch explain tactile sensors and range sensors. Discuss the advantages and disadvantages between joint space and scheme and Cartesian-space schemes. Describe different path control modes in robotics.alljntuworld. Manual programming ii.in) .in 7 8 9 10 11 Applying I Analyzing I Understanding I Understanding I Applying II JN TU 2 W or 1 are zero at initial and final positions. Thickness of vane is 1cm. Number of step angles in motor to achieve this resolution. Explain the following i. Compare the features of most commonly used electric actuators in robotics. i. What is the highest degree polynomial that can be used to accomplish the motion? Explain trajectory planning and show how trajectory planning is done in case of PTP (Point-to-point) robot having constant maximum velocity and finite acceleration and deceleration. b. b. Linear actuators b. Explain the types of touch sensors with neat sketches. Compare the features of most commercially used electrical actuators in robots. A stepper motor is used to drive a prismatic joint of Cartesian robot.www. Robot actuators ii. Give a brief classification of actuators used in robots. Explain features and application of hydraulic actuators in robotics. Explain the performance and selection criteria of electric motors in robotics.

Explain spray painting by robots. What are the considerations of Robots in material handling? b. b. Explain various assembly systems configuration.in 1 2 3 4 5 6 7 I Understanding I Applying I Analyzing II Applying II Applying II Understanding I Applying II Analyzing I Understanding Understanding V I Applying II JN TU W 8 9 10 Understanding ld 12 proximity sensors. Explain with the neat diagram how Robot can be gainfully employed in the inspection methods of component made in large number. a. Enlist the main elements of a hydraulic system used in robot and explain their functions briefly. UNIT – VIII a. Explain the working of DC servo Motor. Explain compliances and remote control compliance device for assembly operations. or 11 JNTU World Page | 8 Downloaded From JNTU World (http://www.alljntuworld.in) .alljntuworld. Discuss the principle of a Resolver. What are the features of robot in machine loading and unloading applications? a. Explain use of Robots in the fields of welding and painting. What are the applications of robots? b. Explain automation in inspection.www. Explain function of robots in assembly and inspection Explain various methods of part presentation in assembly process Explain pick and palce robots for machining operation die costing and plastic moulding.