Subject Code: G1503/R13

M. Tech I Semester Regular/Supplementary Examinations, April, 2015

ADVANCED MECHANISMS
(Common to MD and MED)
Time: 3 Hours Max Marks: 60
Answer any FIVE questions
All questions carry EQUAL marks
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1. (a) Differentiate between spherical mechanisms and spatial mechanisms
(b) Give the symbolic illustration of revolute and prismatic joints of a Robot.

2. Explain with neat sketch about:

(a) Halls equation
(b) Hartmanns Construction

3. Explain with neat sketch about:

(a) Carter Hall circle
(b) The circling point curve

4. What are the types of four bar mechanism. Explain them with neat sketch

5. Explain in brief about

(a) Guiding a body though two distinct positions
(b) Guiding a body though three distinct positions

6. (a) Explain about synthesis of four bar mechanism for specified instantaneous condition
(b) Freudensteins method four bar linkage

7. (a) Explain the formulation of Jacobian for planar manipulator.

(b) Explain in brief about articulated and spherical manipulator

8. (a) Assign coordinate frames based on D-H representation for the SCARA
(b) Established link co-ordinates system for a PUMA robot with neat sketch.
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