# 3 – Marks

1. Trace the work envelop of SCARA robot.
2. Define dexterity.
3. Define Jacobian.
4. Define path update rate and knot point.
5. Mention the four basic robot configurations.
6. State joint angle and twist angle.
7. State the equation of motion of Robot manipulator.
8. Explain manipulator redundancy with example.
9. How many links and joints are there in an articulated robot with six degrees of freedom?
10. Define redundancy.
11. Identify the significance of singularity in robot kinematics.
12. List the two schemes of path generation.
14. State buoyancy.
15. List components used in underwater robot.
16. Mention the techniques used for navigation and control for underwater robot.
17. Define underwater robot.
18. State the significance of kinematic control
19. Define interaction control.
20. What are the fault detection techniques of underwater robot?
21. Differentiate design and stability optimization.
22. List the optimization techniques used for the robotics system
23. Define trajectory optimization

Part B

1. A frame B is rotated 900 about the z-axis, then translated 3 and 5 units relative to the n-
and o-axes respectively, then rotated another 90 about the n-axis, and finally, 90 about
the y-axis. Find the new location and orientation of the frame.

2. The frame B is rotated 900 about the a-axis, 900 about the y-axis, then translated 2 and 4
units relative to the x- and y-axes respectively, and then rotated another 90 0 about the n-
axis. Compute the new location and orientation of the frame.

Construct the link coordinate diagram using D − H algorithm for the SCARA robot and compute the arm matrix ToolTBase and Kinematic parameter. 3. a. Explain the optimization techniques used for the underwater robot. Rotate 900 about local a-axis. show the transformations and the result and verify it. 11. then c. . 3. Derive the expression for joint torques for a planar R-P robotic manipulator using Lagrange-Euler formulation. 4. 5) T relative to frame B which is attached to the origin of the reference frame A and is parallel to it. Illustrate Denavit-Hartenberg convention for selecting frames of reference in robotic application with neat diagram. Illustrate the stability anlaysis of underwater robot using state space method. 7. 10. Using the 3-D grid. Describe the kinematic control of underwater robot. Construct the link coordinate diagram using D − H algorithm for the 3-DOF spraying Tool robot as shown in Fig (1) and compute the arm matrix TBase and forward kinematic parameter. 6. A point P in space is defined as BP = (2. Translate 3 units about y-. 9. 5. Rotate 900 about x-axis. 6 units about z-. then b. Explain the components used in underwater robot with neat diagram. and 5 units about x-axes. Apply the following transformations to frame B and find AP. Illustrate the linear and angular velocity of manipulator links with an example. 8. PART C 1.

as shown fig (2). Fig (2) . Derive the equations of motion for the 2-link mechanism with distributed mass. Fig (1) 2.