Date of Exam : Session:

DEPARTMENT OF MECHATRONICS ENGINEERING

UNIT TEST-III –September-2018
Course Code and Name: 115 and Mechatronics Engineering Year / Semester : IV / VII
Sub Code : MT6703 Class & Year : IV MTR
Sub Name : Robotics and Machine Vision System Max. Marks : 50 Marks
Staff In-charge : Mr. I. Muhilan Total Time : 90 Min.

Course Outcomes
CO.3: Understanding the kinematics concepts, transformation, trajectory and Robot dynamics.

Blooms
Q. CO
Question taxonomy
No: Mapping
Level
Answer all the Questions :- Part A (5 x 2 = 10 Marks)
1 Define manipulator dynamics. K1 C403.3

2 Write a short note on importance of robot mechanics study. K1 C403.3

3 What is forward kinematics? K1 C403.3

4 Write about transformation in robotics. K1 C403.3

5 When will a robot singularity occur? K1 C403.3

Answer all the Questions:- Part B (2 x 13 = 26 marks)

Describe briefly the kinematics and dynamics of a robot and
6(a) methodologies used in it. (consider a robot with any DOF freedom for K2 C403.3
the illustration)
(or)
Explain the Denavit-Hartenberg (D-H) parameters with suitable
6(b) K2 C403.3
examples and sketch.
Derive the equations of motion for the 2-DOF robot arm using
7(a) K2 C403.3
Lagrangian method.
(or)
7(b) Give brief description on Trajectory Planning with suitable examples. K2 C403.3
Answer all the Questions:- Part C (1 x 14 = 14 Marks)
Illustrate the forward kinematics of a 2-DOF robot manipulator with
8(a) rotational joints. Draw a suitable diagram for your illustration. Mention K2 C403.3
the advantages of forward kinematics over inverse kinematics.
(or)
8(b) Do static analysis for a manipulator with two links. K2 C403.3