FEA Quiz

Time : 60 Mins
Max Marks 10

Attempt all the questions. Each Question Carry 5 Marks

1. Obtain the nodal displacements for the beam shown in figure. The governing differential equation s

E M)=0
And Mx) is given in the figure. Each element is 200 cm long: El=2(10) N. cm.

10000 N

2. Obtain an approximate_sisplhcement.equation for the simply Supported b e a m shown in Figure Using tne t a

solution y ) A s n Compare the dellection at the center with the theoretical value y

-0.06415M,H/EL. The governing differential equation is

) Evaluate A by minimizing the integral

to vanish at (a) x= H/2, and (b) x =

0.577H.
b) Evaluate A by requiring the residual
 Subjective

1 . Prove that for infinitesimal small rotation two rotation matrices commute.

2. For given manipulator (see Fig. Q.2), assign appropriate frames for the Denavit-Hartenberg
(DH) representation. Fill out the DH parameters table and write an equation in terms ofa
matrices that shows how T can be caleulated. Consider 0-30", 0,=30", 0,=45", a-60 mm, a
40 mm and a3=3 Omm.

Y X
Y3
Y d2/#2
Y
X
#1

X
Ho
Fig. Q.2
3 . Describe various industrial applications of robotics.

4. Determine the Homogeneous transformation matrix to represent the following sequence of

Operations, ) Translations along X and Y axis by 2 and I unit, respectively i) Then rotations
30 and 60" about the OZ and OX axis, respectively.
5Derive inverse kinematics of the arm shown in Fig. Q.6.
 Subjective

SP
L

Fig. Q.5
6 Derive the inverse kinematics of thee arm shown in Fig. Q.6.

Fig. Q.8
7. Find the Jacobian of the system shown in Fig. Q.7. Also, find the condition of singularity for

the same.

Elevain

ARintn

Fig. Q.7: A World War I biplane with a pilot anda rear gunner.
 Subjective

8Find the workspace of the manipulator shown in Fig. Q.8.

I12

Fig. Q.8

inverse kinematics of thee arm shown in Fig. Q.9.

e 9 Derive the
63

62

Li

Fig. Q.9
Q.10 Define Jacobian of a manipulator. Find the Jacobian of the manipulator shown in Fig. Q.9.

Q. 11 A two-link manipulator having rotational joints is shown in Fig. Q.11. Calculate the
velocity of the tip of the arm as a function ofjoint rates. Give the answer in two forms-in terms
offrame (3} and also in terms of frame {O}. Also, find the Jacobianin terms of frame {3} and in
terms of frame {O}.
 Subjective

- 4

Fig. Q.11

Q.12 Derive Euler-Lagrange equation of motion for for a 2 DoF planar manipulator with two
revolute joints. Assume the mass of the link is uniformly distributed throughout the link, i.e.,
center of mass is at the midspan of the link.

Q. 13 Derive Euler-Lagrange equation of motion for three link PPP robot shown in Fig. Q.13. Assume
the displacements of link 1, 2, 3 are qi, q2, qo, respectively. The masses of link 0, 1, 2, 3 are mo, m,
m2, m3, respectively. The forces on link 1, 2, 3 are fi, f2, f3, respectively.

93

Link 3

Link 2

Link 1

1
Link O

Fig. Q.13

Q. 14 Do nomenclature of the planar manipulators shown in Fig. Q.14.

 Subjective

wlded

Fig. Q.14
Q.15 Derive the inverse kinematics of 3RPR parallel manipulator shown in Fig. Q.15.

A
B

AO07*
Fig. Q.15
Q.16 Do nomenclature of the
planar manipulator shown Fig. Q.16. Also, derive inverse kinematics of it.
 Subjective

sa

Fig. Q.16

Q.17 Figure shows a planar robot with its associated dimensions and reference frame. Calculate
the length of each prismatic actuator for Px Py, 0.

at 7.1",6.8

12

22:(2Ca
+ P,Sxe,
fta:tf, r
-6;
,?
8.
z/P tP,te
tl, 7, S 20