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1

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS AND AUTOMATION

(Electronics & Control Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

(b) Give the classification of industrial robots based on their control systems.

Discuss in detail the limited sequence robots and play back robots with point

to point control. [8+8]

3. Explain the variable structure systems for the control of manipulators. [16]

4. Draw the block diagram of hydraulic motor with servo valve and distributor and

explain the procedure. [16]

5. Determine the dynamic equations for the two-link manipulator shown in Figure 5,

when each link is modeled as a rectangular solid of uniform density. Each link has

dimensions ai , bi and hi and total mass mi . [16]

Figure 5

6. (a) Obtain the D-H link parameters for the manipulator shown in figure 6a

Figure 6a

1 of 2

Code No: R05321302 Set No. 1

(b) Obtain the D-H parameters for the two-link arm shown in in figure 6b [8+8]

Figure 6b

7. (a) Explain Lead through programming methods.

(b) Explain different methods of Robot programming. [8+8]

⋆⋆⋆⋆⋆

2 of 2

Code No: R05321302 Set No. 2

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS AND AUTOMATION

(Electronics & Control Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

1. (a) Explain with neat sketches the components used for rotary-to-rotary motion

conversion in industrial robots.

(b) Give the classifications of industrial robots based on their coordinate system.

[10+6]

2. What do you mean by tactical sensing? Discuss about touch type and force type

tactile sensors. [16]

3. What are the components of the PUMA robot arm controller? Explain the func-

tions of the controller? [16]

4. Discuss about the physical support of the End Effector of robot/End Effector In-

terface. [16]

5. Determine the dynamic equations for the two-link manipulator shown in Figure 5.

Assume that the whole mass of the link can be considered as a point mass located

at the outermost end of each link. The masses are m1 and m2 and the link lengths

are a1 and a2 . [16]

Figure 5

6. (a) Show that a rotation matrix is an orthogonal matrix.

(b) Verify that a rotation matrix Rk that describes the elementary rotation θ

about an axis k follows the property, Rk (-θ) = Rk (θ).

(c) Find the rotation matrix corresponding to the set of Euler angles ZYX [6+4+6]

7. (a) What are the capabilities and limitations of lead through programming meth-

ods?

(b) Explain the features and capabilities of the second-generation languages. [8+8]

8. (a) Describe the mobile robot work cell layout?

1 of 2

Code No: R05321302 Set No. 2

(b) Discuss the different ways in which the interference can take place among the

different pieces of equipment in a robot work cell? [8+8]

⋆⋆⋆⋆⋆

2 of 2

Code No: R05321302 Set No. 3

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS AND AUTOMATION

(Electronics & Control Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

(b) Give the classification of industrial robots based on their control systems.

Discuss in detail the limited sequence robots and play back robots with point

to point control. [8+8]

2. Discuss the industrial and non-industrial applications of vision control robots. [16]

3. Explain the variable structure systems for the control of manipulators. [16]

4. A vacuum gripper is to be designed to handle flat plate glass in an automobile

wind shield plant. Each plate weighs 140N. A single suction cup will be used and

the diameter of the suction cup is 6.0 in. Determine the negative pressure required

(compared to the atmospheric pressure of 103 kPA) to lift each plate. Use the

safety factor of 1.5. [16]

5. (a) Find the inertia for a cylinder of uniform density ρ=1, height 1 and radius 1.

(b) Explain the Lagrangian formulation of manipulator dynamics. [6+10]

6. (a) Perform a translation on the vector â = 10î + 25ĵ + 20k̂ by a distance of -5

units in the x-direction, 3 units in the y-direction and 10 units in z-direction.

(b) For the manipulator shown in Figure 6b, the end of arm is positioned at a

point defined by x = 8 units and y = 10 units. Determine all the solutions for

the angles θ1 , θ2 and θ3 if a1 = 7 units, a2 = 5 units and a3 = 2 units. [6+10]

Figure 6b

7. (a) A single link robot with a rotary joint is motionless at θ= - 5 degrees. It

is required to move the joint in a smooth manner to θ = 80 degrees in 2

seconds and stop smoothly. Compute the parameters of a linear trajectory

with parabolic blends.

1 of 2

Code No: R05321302 Set No. 3

(b) Differentiate between the robot-level languages and the task-level languages?

[10+6]

8. (a) How a welding robot can overcome the problem of variations in the components

that are to be welded?

(b) What are the technical and economic problems encountered in applying robots

to arc welding? [8+8]

⋆⋆⋆⋆⋆

2 of 2

Code No: R05321302 Set No. 4

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS AND AUTOMATION

(Electronics & Control Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

1. (a) Explain about the Cylindrical coordinate robot with a neat sketch. Discuss

the relative merits and demerits of Cylindrical coordinate robots. Name any

two industrial robots having this geometric structure.

(b) What do you mean by work volume? Discuss the work volumes of various

robot anatomies with neat sketches. [8+8]

3. What are the main functions of the 6503 microprocessor of PUMA robot arm?

Explain. [16]

4. Discuss the power and signal transmission of the End Effector of the robot/End

Effector Interface. [16]

the inertia of the first moving link is negligible and that the second moving link is a

slender homogeneous rod of mass m, determine the dynamical equations of motion

by the Lagrangian method using θ1 and θ2 as the generalized coordinates. [16]

Figure 5

6. (a) Find the transformation matrices for the following operations on the point

4î + 9ĵ − 3k̂

i. Rotate 60o about x-axis and then translate -3 units along y-axis.

ii. Translate 6 units along y-axis and rotate 45o about x-axis.

(b) Obtain the D-H link parameters for the manipulator shown in Figure 6b. [8+8]

1 of 2

Code No: R05321302 Set No. 4

Figure 6b

7. (a) Explain Lead through programming methods.

(b) Explain different methods of Robot programming. [8+8]

(b) Discuss the different ways in which the interference can take place among the

different pieces of equipment in a robot work cell? [8+8]

⋆⋆⋆⋆⋆

2 of 2

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