Capital University of Science and Technology

Department of Mechanical Engineering

ME4443-Introduction to Robotics
MID term Exam (BS ME)
Semester: Spring 2021 Max Marks: 20
Date: May 21, 2021 Total Time: 90 Min
Instructor: Engr. Shummaila Rasheed

INSTRUCTIONS:
• There are Two Parts in this paper. Attempt all parts.
• The total allotted time is 90 minutes for solution and online submission of the solution.
Manage the time accordingly. No extra time will be awarded.
• This exam carries 20% weight towards the final evaluation.
• Attempt this exam with your own handwriting. Solution should be neat, clean and legible.
• Write your Name, Registration Number and Section at top of each page and sign each
page before submission.
• Solve on blank pages, scan the handwritten pages and make a single solution PDF file.
Submit the solution PDF file on respective exam page.
• Check the sequence of pages and the orientation of scan/ picture are correct and readable.
• In case of technical issues, email the solution file from your university email within
allocated time to instructor at shummaila@cust.edu.pk
• Mention your full name, registration number and section clearly in your solution file, file
name and email subject.
• Students are required to duly fill, sign and attach/send the “Honor Statement” with their
solution files.
• In case of any issues, contact instructor shummaila@cust.edu.pk (0340-8027445) online
on Teams.
• Exam attendance shall be marked on portal during the exam.
• Any two identical answer sheets may lead to award of zero marks for the both students.
• Copying/ cheating from other students or sharing your solution files with others will lead
to disqualification and strict disciplinary action.
• If you feel that some data is missing in exam paper than you are free to assume the missing
values. However, a proper justification for the assumption(s) should be provided.
Name: Reg. No.

Part – I (CLO – I)

Question No. 1 (1+3+3+3=10)

(a) Explain mapping and types of mapping in your own words with atleast one example for
each type. Note: Copying from text book, from any other student or from any internet
source will lead to zero marking.

ME4443 – Introduction to Robotics Page 1 of 2

 Part – II (CLO – II)

Question No. 2 (5+5=10)

(a) Analyse frames {A} and {B} which are initially coincident with each other at their origin
and find out the rotation matrix that will change the descriptions of vectors from BP to AP.
Whereas, frame {B} is rotated about ZB by 60o degrees, and then the resulting frame is
rotated about XB by 90o degrees. Where, AP is [11, 10, 15] T.

(b) Analyse 3R manipulator shown in figure 1 and derive transformation matrix 30T.

Figure 1

ME4443 – Introduction to Robotics Page 2 of 2