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VMKV Engineering College, Salem Aeronautical Engineering Course Elective - Robotics Engineering - Question Bank 2012 Regulation
VMKV Engineering College, Salem Aeronautical Engineering Course Elective - Robotics Engineering - Question Bank 2012 Regulation
PART B
1. Describe five types of mechanical joints for robots with neat sketches.
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
3. Describe PUMA 560 manipulator and obtain link transformation matrix from D-H table.
Ans.
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
Hydraulic Drive
Many earlier robots were driven by hydraulic actuator drives. A hydraulic drive system uses fluid
and consists of a pump connected to a reservoir tank, control valves, and a hydraulic actuator. Hydraulic
drive systems provide both linear and rotary motion using a much simpler arrangement than conventional
electric-drive systems. The storage tank supplies a large amount of instant power, which is not available
from electric-drive systems.
Hydraulic actuator drives have several advantages. They provide precise motion control over a wide
range of speeds. They can handle heavy loads on the end of the manipulator arm, can be used around
highly explosive materials, and are not easily damaged when quickly stopped while carrying a heavy load.
However, they are expensive to purchase and maintain and are not energy efficient.
Hydraulic actuator drivers are also noisier than electric-drive actuators and are not recommended
for clean-room environments due to the possibility of hydraulic fluid leaks.
Pneumatic Drive
Pneumatic drive systems make use of air-driven actuators. Since air is also a fluid, many of the
same principles that apply to hydraulic systems are applicable to pneumatic systems. Pneumatic and
hydraulic motors and cylinders are very similar. Since most industrial plants have a compressed air system
running throughout assembly areas, air is an economical and readily available energy source. This makes
the installation of robots that use pneumatic actuator drives easier and less costly than that of hydraulic
robots. For lightweight pick-and-place applications that require both speed and accuracy, a pneumatic robot
is potentially a good choice.
Pneumatic actuator drives work at high speeds and are most useful for small-to-medium loads.
They are economical to operate and maintain and can be used in explosive atmospheres. However, since air
is compressible, precise placement and positioning require additional components to achieve the smooth
control possible with a hydraulic system.
It is also difficult to keep the air as clean and dry as the control system requires. Robots that use
pneumatic actuator drives are noisy and vibrate as the air cylinders and motors stop.
5. Describe in detail the different types of possible control for joint movements.
Ans. Types of possible control for joint movements are as follows:
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
6. (i)Derive a 3 X 3 rotation matrixRx,αabout the OX axis with ‘α’ angle.Given two points auvw= (4,3,2)T and
buvw= (6,2,4)T with respect to therotated OUVWcoordinate system, determine the corresponding points axyz,
bxyzwith respect to the reference coordinate system if it has been rotated 600 about the OZ axis.
Ans.
(ii)Derive a 3 X 3 rotation matrix Rx,αabout the OY axis with ‘φ’ angle. axyz= (4,3,2)T and bxyz= (6,2,4)T
are the coordinates with respect to the reference coordinate system, determine the corresponding points
auvwand buvwwith respect to therotated OUVWcoordinate system if it has been rotated 600 about the OZ
axis.
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
7. Describe SCARA manipulator and obtain link transformation matrix from D-H table.
Ans.
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
8. Derive a 3 X 3 rotation matrix Rφ,θ,Ψ with Euler angles representation.If the OU, OV, andOWcoordinate
axes were rotated with ‘α’ angle about the OX axis, what would the representation of the coordinate axes of
the reference frame be in terms of the rotated coordinate system OUVW.
Ans. Express Rφ,θ,Ψ with respect to System I and System II as derived in class.
9. Determine a transformation ‘T’ matrix that represents a rotation of ‘α’ angle about the OX axis, followed
by a translation of ‘b’ units along the rotated OV axis.
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION
Ans.
10. Find a homogenous transformation ‘T’ matrix that represents a rotation of ‘α’ angle about the OX axis,
followed by a translation of ‘a’ units along the OX axis, followed by a translation of ‘d’ units along the OZ
axis, followed by a rotation of ‘θ’ angle about the OZ axis.
VMKV ENGINEERING COLLEGE, SALEM
AERONAUTICAL ENGINEERING COURSE
ELECTIVE – ROBOTICS ENGINEERING – QUESTION BANK 2012 REGULATION