Roll / Nirma University Institute of ‘Technology Supplementary Examination (SPE), August - 2022 B. Tech. in Electronics and Communication Engineering, Semester-VI 2MEOES1 Introduction to Robotics Supervisor's initial with date Exam No. Time: 3 Hours Max. Marks : 100 Instructions: 1. Attempt all questions. 2. Figures to right indicate full marks. 3. Use section-wise separate answer book. 4. Draw neat sketches wherever necessary. SECTION -I Q-1. (A) Frame {1} to frame {2} is given by a rotation about Ya with @ = 30° and a (06) co, translation of [8 —2 0]". Frame {2} to frame {3} is a rotation about Zs with 139 = 65° and a translation of [-10 0 15]". Give the transformation matrix from {1} to {8} and calculate then +P. With the given transformations 37’ and 27, derive +P for'P=[15 22 OJ" (B) A frame {B}, which is rotated to frame {A} about axis X by 60°, translated 5 (06) C02, units in direction of Xa, 2 units in direction of Ya and translated -2 units in \4 direction of Za. Then calculate “P with*P=[2 1 -2]". Also Give *P with*P=[0 1 oJ”. Q-2. (A) The wrist of a robotic manipulator is to be modeled using X-Y-Z Fixed angle. (10) C02, Determine following for this representation. (i). Calculate combined rotation 14 matrix corresponding to Eular angle. (ii) Given an arbitrary rotation matrix with elements R= {7;}, derive all angles. (ii) Given the rotation matrix below, find values of all angles. 0.9752 -0.0978 0.1987 R=| 0.1538 0.9447 - 0.2896 . -0.1593 0.3130 0.93630. (B) Frame describing a base of the robot and an object are given relative to the (08) C02, universe frame as follows: : s 1001 0-102 O01 a) 0 0.1 0 1 0 6] = jo a 1 0 no a ij, ooo1 Determine a transformation 7 of the robot configuration if the robot hand is to be placed on the object. (Hint: {H)={Obj) when robot hand grip the object). 2 Page 1 of 32MEOES1 INTRODUCTION To ROBOTICS (A) For a robotic manipulator shown in Figure Q.3A, it is required obtain (14) C03, forward kinematic solution for end effector with respect to base of the robot. 16 ‘Calculate following for this robot. (1) Assign coordinate system to each joint. (2) Prepare D ~ H Parameter table. (3) Calculate transformation matrix for each joint. Obtained transformation matrix of last joint with respect to base coordinate OR (A) For robotic manipulator shown in Figure ORQ.3A, joint axes are shown. The (14) C03, global origin ic fixed frame is at the bottom of the first link. Calculate 16 following for this manipulator. (i) assign coordinate system at each joint axis (i) prepare DH parameter table (iii) calculate transformation matrix for each joint axis. (8) For a two wheel differential drive mobile robot, R= radius of each wheel, L= (06) C03, length between left and right wheel and v, ur = velocity of right and left 13 wheel respectively, Derive equations for components of linear and angular velocity of robot in terms of wheel velocities. Now, if robot’s linear (V) and angular velocity (o) is known to designer, write expression for left and right wheel velocity. SECTION - II Q-4. (A) Define following robotic configuration and draw sketch of work envelop of (06) Co}, them. (i) Cartesian (ii) Cylindrical (ii) Spherical (iv) SCARA (v) Articulated. (B) Classify robots based on control system. (05) col, Q-5. (A) Carry out inverse kinematic analysis for the 4 DOF robot. Use following (12) CO3, matrices. esse OR (A) Carry out inverse kinematic analysis for the 3 DOF robot. Use following (12) C03, matrices. 16 z Page 2 of 3ined i mars cone | con aa ] ‘ | {srnuview D fon ~ MR | Dy U fr 2 {(M1)=Tool frame 2MEOESI INTRODUCTION 10 ROBOTICS cosh: -sinds 0 op _|sin® coséi 0 alo o 1 Oo 0 oO cos ~sinds 0 sins costs 0 0 1 0 secs 0 1 -sin@2 cos: 0 0 0 cos: sin b> Fr 0 0 0 0 0 ede ar 0 0 (B) A motor with rotor inertia of 0.04 Kg.m? and maximum torque of 16 Nm is (06) C04, connected to a uniformly distributed arm of mass 4 kg with concentrated mass of 4 kg at its end. The inertia of gear is 0.02 Kg-m? and inertia of pinion is 0.01 Kg.m?. Calculate the total inertia felt by the motor and maximum angular acceleration it can develop if the gear ratio is (a) 4 and (b) 40. (A) For a revolute joint of the robot, the joint angles are required to be obtained (15) C03, using trapezoidal velocity profile trajectory. Calculate (i) time required for 16 acceleration and deceleration (ii) suitable value of the joint acceleration and (iii) solution of angular position as a function of time. Take the initial angle 0;= 20° and Final angle 01 = 70° is to be achieved in 5 second. {B) Describe gripper actuation mechanism with a proper sketch, (06) C04, 2 sagas pe iy de} (sestaonary 850% By Figure Q.3A Figure ORQ.3A ‘ Page 3 of 3Nirma University, School of Engineering, Institute of Technology, Semester End Examination (RPR), July 2022 B, Tech in CL/CH/EE, Semester V 2MEOES1 Introduction to Robotics Rott NO. /Bxam NO. [__]_ Sper niin with date | ‘Time: 3.0 Hours Max Marks: Instructions: Qi Q2 Q2 C02, 6 (A) C02, 6 (a) 02, 16 (B) C02, T, Attempt all questions. 2, Figures to right indicate full marks, 3, Draw neat sketches wherever necessary 4. Assume necessary data wherever required. SECTION -1 For a robotic manipulator shown in Figure Q.1, it is required obtain forward kinematic solution for end effector with respect to base of the robot. Calculate following for this robot. (1) Assign coordinate system to each joint, (2) Prepare D-H Parameter table (3) Calculate transformation matrix for each joint. Given an orientation and position for a manipulator7, J, i= 1 to 4, j= 1 to 4, obtain inverse kinematics solution of joint variables for a manipulator in Q.1. Use the forward kinematics solution obtain in the Qa OR For a 4 DOF manipulator, the joint - link transformation matrices are ‘as follows: fe 0 0) 10 00 fo epee oo T="9 (oO 1 of! lo -1 0 a," oo on o oo 1 HOO § ie -%4 0 0 ey (0 10 Gls je & 0 0 Flo 0 1 df “Jo 0 1 of oo 0 1 @ 6 04 where 0}, do, ds and @; are joint variables. if the tool configuration matrix at a given instant is as given below, obtain the magnitude of each joint variable. 0.25 0.433 -0.866 -89.1 oy =| 0433-075 -05 -45.67 T=)-0866 -05 00. 50 0 0 0 qj Determine the time history of the position, velocity and acceleration of the end-effector of 3-DOF manipulator, which moves from start point to goal point via one intermediate point. The desire motion parameters are as listed in below table. Assume cubic spline trajectory in each segment. Page 1 of 3 100 (14) (12) (12) {08}OMEOES! Points areas Position (rad) 0 [90° | 180° Velocity (rad/s) [0 [60 [0 Travel time(s) [0 [3 [2 Assume continuity of velocity at via point Q.3 (A) Obtain the Jacobian Matrix for the robotic arm shoum in Fignre Q.1. (10) c02, 16 (8) With the given transformations 47 and®f, derive “P for°P =(6 8 0)”. (6) 2 Brame {A} to frame {B} is given by a rotation about Ya with ¢ = 75° and atranslation of [12-10 0]”, Frame {8} to frame {C} is a rotation about. Zz with 0 = 25° and a translation of (-3 0 6)". Give the transformation matrix from {A) to {C} and calculate then SECTION —I1 Q4 A) Write adantages and limitations of cartesian, cylindrical, spherical and (06) CO1, articulated arm robot based on base variation, height and reach. oR (A) Describe the elements of Robotic System. (06) col, (8) Explain classification of robots with reference to power sources, (06) col, (C) Discuss major differences between servo controlled and Non servo (04) C01, controlled robots. 13 Assume you are working in an industry dealing with the design of robot (14) end effector as shown in Figure Q.5. Following data are available with the industry. 1. Gripper uses friction to grip the part 2. Weight of the part is 13.5N 3. Coefficient of friction is 0.28 4. Anticipated ‘g’ factor is 2.9 5. Piston diameter is 12cm 6. Ram diameter is Scm tain the required data which are as follows 1. Required gripping force to retain the part 2. Actuating force for the given design 3. Air pressure needed to operate piston on piston side 4. Pressure on ram side (assume and mention the suitable data, if required) Q.6 (A) Discuss the classification of sensors used in robotics (07) 03, 13 OR Page 2 of 3QMEOES| (A) _ Discuss the classification of end effectors used in robotics 07) cos, is) i (B) Explain the pneumatic and hydraulic actuators for robotic system (07) c La (C)_ Explain the working of potentiometer with diagram (06) cos, 12 Figure Q.5 Page 3 of 3Nirma University Institute of Technology Semester End Examination (IR) / Supplementary Examination, May - 2022 B, Tech. in Civil Engineering / Electrical Engineering, Semester-V 2MEQES| Introduction to Robotics Time: 2_Hours Instructions: 1, Attempt all questions. Q1 Q2 2. Figures to right indicate full marks. 3. Draw neat sketches wherever necessary. 4, Assume the necessary data, if required. [A] Derive the forward kinematic model for the following configuration) using DH method. “ar Fig. [B) For the robotic arm configuration as shown in Fig-1, kinematic solutions for each joint. Max. Marks : 50_ robotic arm (RPP [10] derive the inverse [10] [A] Obtain the Jacobian matrix for the robotic arm as shown in Fig.1 [10] [B] The second prismatic joint of the robotic arm shown in the Fig-1 has the [08] following set points to move. Derive the trajectory equ: considering cubic polynomial. tation for the same i 2 3 {do {mm) 0 300 700 Velocity (mm/s) Ones 60n [ere Uree : Time (sec) — cumulative oO 4 2 ‘Assume you are working in an industry dealing with the design of robot [12] end effector as shown in figure 2 OR figure 3. Following data are available with the industry. Gripper uses friction to grip the part Weight of the part is 18 N Coefficient of friction is 0.28 Anticipated ‘g’ factor is 2.4 Piston diameter is 14.3 em Ram diameter is 2.9 cm Qaseyr Page 1 of 22MEOES1 Introduction to Robotics Obtain the required data which are as follows 1, Required gripping force to retain the part 2. Actuating force for the given design 3. Air pressure needed to operate piston on piston side 4. Pressure on ram side (assume and mention the suitable data, if required) Figure 2 2G iH | ‘Attached f+028m-) to robot ‘pec Figure 3 Page 2 of 2Nirma University Institute of Technology Semester End Examination (IR), May, 2022 B. Tech, in CE/EC/IC, Semester-VI 2MEOESI INTRODUCTION TO ROBOTICS Roll / Supervisor's initial Exam No. with date Time: 3 Hours Max. Marks : 100 Instructions 1, Attempt all questi 2, Figures to right indicate full marks. 3, Use section-wise separate answer book, 4. Draw neat sketches wherever necessary. SECTION ~1 Q-1. (A) A frame {B} is rotated to frame {A} about axis Za by 60°, translated 5 (06) co?, units in direction of Xa, 2 units in direction of Ya and translated -2 4 . apo y units in direction of Za, Then calculate ‘P with’? =[2 1 -2I'_1¢ given “P=[0 1 OF then calculate *?. 2 With the given transformations 47 and#r, derive “P for¢P=[1 2 of. (06) 13” Frame {A} to frame {B} is given by a rotation about Za with 6 = 30° and a translation of[2 -1 IJ’. Frame {B) to frame {C) is a rotation about Zp with 0 = 60° and a translation of[-1 1 0]. Give the transformation matrix from {A} to {C} and calculate then ‘?. Q-2 (A) The wrist of a robotic manipulator is to be modeled using X-Y-Z Fixed (10) oP angle. Determine following for this representation. (i). Calculate required transformation matrices corresponding to fixed angle. i) Given an arbitrary rotation matrix with elements R= {r;}, derive all angles. (iii) Given the rotation matrix below, find values of all angles. 0-1 0 R=|0 0 -1 1000 (8) | The homogencous transformation matrices between frames {i}- {i} and fi) (08) C02, tk} are: | = (0.866 —0.500 0 15 Jp ~|0500 0.866 0 —10 : o © @ isi) 0 Oo a io Oo 0 0,707 -0,707 20 7 0 0.707 0,707 ~39|Peterminesr 0 o 4 Page Lot 4Q-3. (A) C02, (a) co2, 16 (B) 03, fA) c02, 16 2MEOESI INTRODUCTION TO ROBOTICS For robotic manipulator shown in Figure Q.3A, joint axes are given by (14) numbers 1 to 3 and point 4 is shown at the end of the end effector. The global origin is at the bottom of the first link. Calculate following for this manipulator. (i) assign coordinate system at each joint axis (ii) prepare DH parameter table (iii) calculate transformation matrix for each joint axis, OR For robotic manipulator shown in Figure ORQ.3A, joint axes are shown. (14) ‘The global origin i.e fixed frame is at the bottom of the first link Calculate following for this manipulator. (i) assign coordinate system at each joint axis (i) prepare DH parameter table (iii) calculate transformation matrix for each joint axis. For a two wheel differential drive mobile robot, R = radius of each (06) wheel, L = length between left and right wheel and v;, u = velocity of right and left wheel respectively. Derive equations for components of linear and angular velocity of robot in terms of wheel velocities. Now, if robot’s linear (V) and angular velocity (a) is known to designer, write expression for left and right wheel velocity. SECTION - 11 Write adantages and limitations of cartesian, cylindrical, spherical and (06) articulated arm robot based on base variation, height and reach. Define terms (i) Work Envelop (ii) Payload (iii) Repeatability (iv) (05) resolution with reference to robotic application. Carry out Inverse kinematic analysis for the robotic arm having (12) following transformation matrices. [cos@ -sinés 0 0] cos62 -sinds 0 0 ‘r : : iG 4 v2 "| sind: cos@: 0 0]? oo oT A a ‘cos, sind, 0 L, 1004, ap _|8in®, cos, o100 a) 0 oo1o 0 Oo o1 oo01 Carry out inverse kinematic anal matrices for the 3 DOF robot. Use following (12)(B) 03, Q6. (A) 02, L6 (B) 03, 2MEOESI INTRODUCTION TO ROBOTICS cos ~sind 0 0 cos: sinés 0 0 cpa] 8 cosh 0 0] | 9 9 1 0 : 0 0 1 of? |-sin@: cos#2 0 0 0 0 oa fo o 04) cos#: -sinds 0 a, sin@s cos; 0 0 0 Old 0 0 01 and A motor with rotor inertia of 0.05 Kg.m? and maximum torque of 18 (06) Nm is connected to a uniformly distributed arm of mass 6 kg with concentrated mass of 2 kg at its end. Ignoring inertia of a pair of reduction gear and viscous friction in the system, calculate the total inertia felt by the motor and maximum angular acceleration it can develop if the gear ratio is (a) 3 and (b) 30. For a 3 DOF robot, forward kinematic solution is given as, (15) cq (0 dy Ss =e 0 dye, P ‘ 2.|_ If the position and orientation at initial and 0 0 -1 -d, 070 0. 1 10 0 6 0-1 0 -10 final configuration if BY Tyus = and nfigui given by Tw =1q 9 1 30 ooo 1 0.707 (0.707 0 1S 0.707 -0.707 0 —25.98 oo 10 0 0 oO L trajectory for joint variables. , determine cubic polynomial Explain the design of grippers based on Mechanical and Non- {06} Mechanical type gripping methods. Page 3 of 42MEOESI INTRODUCTION TO ROBOTICS coincident ~ = a3 ~~ . Joint 3 2 > ~ on Point+ —* Figure Q.3A Figure ORQ.3A Page 4 of 4Nirma University Institute of Technology Semester End Examination (IR), February - 2022 B. Tech. in CL / CH / EE, Semester-V 2MEOES| Introduction to Robotics Time: 2_Hours Max. Marks : 50 Instructions: 1. Attempt all questions. - 2. Figures to right indicate full marks. 3. Draw neat sketches wherever. necessary. 4. Assume the necessary data, if required, @1 [A] Derive the forward kinematic model for the following robotic arm using DH [109] method, — x Fig.1 {B] For the robotic arm configuration as shown in Fig,1, derive the inverse [10] kinematic solutions for each joint. @2 [A] Obtain the Jacobian matrix for the robotic arm as shown in Fig. 1. [10] [B] The first rotary joint of the robotic arm shown in the Fig.1 has the following [08] Set points to move. Derive the trajectory equation for the same considering cubic polynomial. Derive the trajectory equation for the same considering cubic polynomial, - if 2. 3 } 6 Oo | -/2 co Velocity (¢/s) 0 = 0 ‘Time (sec) — cumulative 0 3 6 Q3 Assume you are working in an industry dealing with the design of robot (12) end effector as shown in figure 2 OR figure 3. Following data are available with the industry. 1. Gripper uses friction to grip the part 2. Weight of the part is 12.9N 3. Coetficient of friction is 0.27 4. Anticipated ‘g’ factor is 2.2 5. Piston diameter is 11.7cm 6, Ram diameter is 2.9cm Page 1 of 22MEOES! Introduction to Roboties Obtain the required data which are as follows 1. Required gripping force to retain the part 2. Actuating force for the given design 3. Air pressure needed to operate piston on piston side 4. . Pressure on ram side (assume and mention the suitable data, if required) Figure 3 Page 2 of 2Nirma University Institute of Technology Semester End Examination (IR), December - 2021 B.Tech. in CL / CH / BE, Semester-V 2MEOES1 Introduction to Robotics Roll / Exam Ne. [SS ] Time: 2_ Hours : Instructions: 1. Attempt all questions. 2. Figures to right indicate full marks, 3, Draw neat sketches wherever necessary. 4, Assume the necessary data, if required. Q.1 [A] Derive the forward kinematic model for the following robotic arm using DH [10] method. “4 Fig. [B] For the robotic arm configuration as shown in Fig.l, derive the inverse [10] kinematic solutions for each joint. Q.2 [A] Obtain the Jacobian matrix for the robotic arm as shown in Fig.1. [19] [B] The first rotary joint of the robotic arm shown in the Fig.1 has the following [08] set points to move. Piamanate 1 2 3 o (Oe 2/3 23 ‘Velocity (r/s) 0 x oO Time (sec) 0 4 2 Derive the trajectory equation for the same considering cubic polynomial. Q3 Assume you are working in an industry dealing with the design of robot end [12] ‘effector as shown in figure 2 OR figure 3. Following data are available with the jnduetry. (Data is same for Figure 2 ond Figure 3) Gripper uses friction to grip the part Weight of the part is 11.9N Coefficient of friction is 0.27 Anticipated ‘g’ factor is 2 Piston diameter is 10.5cm Ram diameter is 2.8m jerive the following: Required gripping force to retain the part Actuating force for the given design ‘Air pressure needed to operate piston on piston side Pressure on ram side ad 9 Pepe Page 1 of 22MEOES| Introduction to Robotics Frame Piston assembly Close Open—> = \ shop air Figure 3. Page 2 of 2Roll No. /Exam No, Nirma University Institute of Technology Semester End Examination (IR/RPR) May 2019 B. Tech in Mechanical Engineering, Semester VI ME643 Robotics Engineering ‘Supervisor's initial with date Time:3 Hours Instructions: 1, Attempt all questions. Q1 [A] Bl [4] co2, A [4] Max Marks : 100 2. Figures to right indicate full marks. 3. Use section-wise separate answer book. 4. Draw neat sketches wherever necessary. 5. Assume necessary data wherever required. 6. Use of transformation matrix given in the paper is permissible SECTION -1 A differential-drive robot is equipped with a wheel encoder with 12 “ticks” (06) per revolution, wheel radius of 0.12m, and the two wheels are 0.2m apart. The robot starts at the origin (position and orientation is 0) and, during a short time interval of 0.5s a total of 9 ticks were recorded for the right wheel and 6 ticks for the left. Where is the robot approximately located (position and orientation) after 0.58? Write adantages and limitations of cartesian, cylindrical, spherical and (06) articulated arm robot based on base variation, height and reach. For a robotic manipulator shown in Figure Q.2 (A), it is required obtain (12) forward kinematic solution. Calculate following for this robot. (1) Assign coordinate system to each joint. (2) Prepare D - H Parameter table. (3) Calculate transformation matrix for each joint. OR Consider the manipulator with DH parameters below. (12) i ain Ginn da Oi 1 oO 0 Ll OL 2 90° d2 oO 3 oO -90° L3 63 For this given manipulator, Solve for the following: (1) Label all z; and xi axes, and non-zero length parameters. (2) Draw the conceptual sketch showing coordinate frame. (3) Determine transformation matrices for each joint. (4) Describe which variables affect which coordinates (x, y, 2) of the endpoint by filling in the table below. Put a cross for each coordinate affected by a particular variable: Variable [X_[Y |Z dh da 03 Based on this table, give the best variable to solve above case (i)? Page 1 of 4co2, Ls. coz, [B) 13 Q4 Cos, 14 cos, cos, (4) (B) (c) (a) ‘M643 Robotics Engineering [B] Derive necessary equation to calculate condition for acceleration at blend region and blending time for trapezoidal velocity profile trajectory. From this solution, write required relation to calculate position at different time. If initial angle 0;= 30° and Final angle 6; = 75° is to be achieved in 3 second, calculate acceleration and time of blend region. [A] The wrist of a robotic manipulator is to be modeled using X-Y-Z Fixed angle. Determine following for this representation. (ji). Calculate combined rotation matrix corresponding to Eular angle. (ii) Given an arbitrary rotation matrix with elements R={r,], derive all angles. (iii) Given the rotation matrix below, find values of all angles, 0 -1 0} R=|0 0 -1 i 0 a ‘The homogeneous transformation matrices between frames {i} {j} and {i} ~ {Kj are as below. Determine /T ee 0.500 0 10 0.500 0.866 0 -10 io 1 Os 0 i 0 0) 0.707 -0.707 50 0.707 0.707 -50 0 al T= Soar SECTION - IT A 2 DOF robot is shown in Figure Q.4 (A) with revolute (@ and slider (R) joint. Here, mois mass of link and meis mass of slider. The mass msis taken at the center of link at distance ! at angular position of @ and position of mass mg is rat this instance. Determine dynamic equation using Lagrange equation. Neglect gravity, potential energy and inertia of links ‘The base joint of a cylindrical robot is driven by a 12-bit memory controller and swing range of 360°. The radial axis is driven by a 8-bit memory controller and horizontal reach of 300 mm and a stroke of 200 mm. The vertical motion has a drive of 10-bit memory and vertical height of 480 mm and stroke of 360 mm. calculate (i) work volume (ii) angular resolution (iii) radial resolution (iv) vertical resolution (v) Horizontal resolution and (vi) Total resolution. A motor with rotor inertia of 0.05 Kg.m? and maximum torque of 18 Nm is connected to a uniformly distributed arm of mass 6 kg with concentrated mass of 2 kg at its end. Ignoring inertia of a pair of reduction gear and viscous friction in the system, calculate the total inertia felt by the motor and maximum angular acceleration it can develop if the gear ratio is (a) 3 and (b) 30. Carry out Inverse kinematic analysis for the robotic arm having following transformation matrices. Page 2 of 4 (19) (08) (os) (06) (06) (04) (12)co2, cos, Q6 co2, 1s cos, 13. (a) (B) (A) (B) 'ME643 Robotics Engineering =sin& 0 0 oe wr-|*e en : ; _l@ 6 4a l "| sind: cos#2 0 0)’ ee 0 0 O18 ‘cos@, -sin®, 0 L, 100 bh] ind, cose, 0 0 010 0 ap -| 80% 0080, 5 ; Wo oo allo gt 0 0 0 o1 ooo1 oR Carry out inverse kinematic analysis for the 4 DOF robot. Use following matrices. cos8l -sindl 0 0 cos62 -sin2 0 0] [eos -sind3 0 ay Op_[sin® cos 0:0) 1, | 0 0 1 0).g,}sinds ooses 0 0 Plo 01 of "| -sing2 -ceo2 0 of] 0 0 1 ay ad @ @3 0 0 o1 7 ao % 7% 0 0 0 0 1g, and 3 4 m4 eg 0 0 0 00a For a gripper mechanism shown in Figure Q.5 (B), determine actuating force Fa to hold the object without falling. Take factors of safety = 1.2 and factor Kg = 2.0. The coefficient of friction between the surface and gripper finger is 0.3. For robotic manipulator, transformation matrix is given as, en 8a 0 be, + Lita r-|% : ha rhe . Here, @1 and 62 are joint variable. Calculate 0 00 1 linear velocity vector [», v, v,J of point E. If = 1 m/s, vy = ve= 0, then what is solution of 01 and 02? Does the solution involves singularity? If yes, what are the singular work space for this solution? A motor has torque constant of 100 Nm/A and voltage constant 12 X 10% volt/RPM. The armature resistance is 2.0 9. If 24 V is applied to the terminal what would be the (i) torque at the rotor (i) speed at zero load (ii) torque at 100 RPM. Plot the result on speed versus torque graph. Page 3 of 4 (12) (08) (10) (04)[MB643 Robotics Engineering a & 2) coinceden Figure Q.5 (B) Page 4 of 4Q1 Q2 Roll NO. /Exam NO. Nirma University Institute of Technology Semester End Examination (IR) May 2018 B. Tech, Mechanical Engineering, Semester VI ME643 — Robotic Engineering ‘Supervisor's initial with date ‘Time: 3 Hours ‘Max Marks: 100 ee a Mr CC Instructions: 1. Attempt all questions. 2. Figures to right indicate full marks, 3. Use section-wise separate answer book. 4. Draw neat sketches wherever necessary. 5. Use of general transformation equation. given at the end of the paper is allowed. (4) (B) (a) Give Classification robot as per coordinate system and briefly explain each of them with neat sketch. In Figure 1, the vector position, “is to be obtain. {U) is reference coordinate system. Assuming that other transformation matrices are given, write appropriate expression using coordinate transformation and 2 inverse transformation to calculate” . ‘The wrist of a robotic manipulator is to be modeled using Z-Y-X Eular angle. Determine following for this representation. (i). Calculate orientation matrices and combined rotation matrix corresponding to Bular angle presentation. fil) Given an. arbitrary rotation matrix with Ta Ma Mi clementsR=|r,, 7% 73 |, derive equations to calculate all angles. (ii) Give your conclusion about solution of angles of X and Z axis, if rotation angle of ¥ axis is 90°. - With the given transformations #7 and®", derive “P for°P=[1 2 0] Frame {A} to frame (B} is given by a rotation about Za with @ = 30° and a translation of[2 -1 iJ’. Frame (B} to frame {C} is a rotation about Zs with 8 = 60° and a translation off-1 1 OJ’. Give the transformation matrix from {A} to {C} and calculate then ‘P For robotic manipulator shown in Figure 2, joint axes are given by numbers 1 to 3 and point 4 is shown at the end of the end effector. The global origin is at the bottom of the first link. Calculate following for this manipulator. (i) assign coordinate system at each joint axis (il) prepare DH parameter table (iii) calculate transformation matrix for cach joint axis. OR For a robotic manipulator shown in Figure 3, joints are indicated by number J1 to J4. It is required obtain forward Kinematic solution for end effector (point J4) with respect to base of the robot. The global origin is located at the bottom of link 0, Calculate following for this robot. (1) Assign coordinate system to each joint. Page L of 4 (05) (06) (08) (05) (14) (14)MB643 ~ Robotic Engineering (2) Prepare D ~H Parameter table. (3) Calculate transformation matrix for each joint. (8) The transformation matrices for a 3 dof manipulator are given as below. (12) Determine following for this manipulator. (i) Calculate angular velocity components for each joint and absolute angular velocity $a. (ii) Determine Velocity Jacobian and (iii) Given the endpoint linear velocity as Vx = Wel m/s, solve for the joint rates. 0 0} too o © 100 0 oral 00-1 ~d,|,,_Jo 0 -1 -<, rv jo 1o off Jor o of 0 0 oo 4 ooo 1 Q-4 (A) What do you mean by Gait cycle? Explain various Gait pattern for six (06) Jegged robot with neat sketch. (8) For a 3 DOF robot, forward kinematic solution is given as, (10) % 5 0 d,s, gral 74 9 de lo 0-1 —a, [If the Position and orientation at initial and oo 0 1 100 0 0-1 0 -10 final configuration if given by Taw=ly gy 1 3 [0d ooo 1 0707 0.707 0 15 0.107 -0.707 0 -2598 To =| "9 gy 4g. |r determine cubic polynomial trajectory o 0 oO 41 for joint variables Q@-5 (A) The mechanical gripper shown in Figure 4 uses friction to grasp a part (10) weighing 25 N. The coefficient of friction between the part and the gripper is 0.3. The gripper is accelerating horizontal (Kg = 2.0). The diameter of piston of pneumatic cylinder is 65 mm and factor of safety is 1.5. Take length L1 = 70 mm, L2 = 50 mm, 13 = 12 mm and L4 = 40 mm. Calculate (i) the gripping force (Pq) to retain the part (ji) actuation force (Pa) required to achieve this gripping force (iii) The pressure of air required to operate the piston. (B) Carry out Inverse kinematic analysis for the robotic arm having following (12) transformation matrices. 00 & ool, fo a fn a) Ss o1 0 Page 2 ofQ6 ‘ME643 ~ Robotic Engineering 100 0 a - 0 0 00 1 ~4 a 00 a | apa[s & "jo 1 0 of*)o o 1a ooo 1 o 0 on oR (B) A 2 DOF robot is shown in Figure 5 with revolute (9 and slider (Rj joint. (12) Here, me is mass of link and mg is mass of slider. Tae mass mois taken at the center of link at distance ! at angular position of @ and position of mass me is r at this instance. Determine dynamic equation using Lagrange equation. Neglect gravity, potential energy and inertia of links. (a) A motor has torque constant of 120 Nm/A and voltage constant 0.012 (06) volt/RPM. The armature resistance is 2.0 Q. If 24 V is applied to the terminal what would be the (i) torque at the rotor (ii) speed at zero load (ii) torque at 150 RPM. Plot the result on speed versus torque graph. (8) A motor with rotor inertia of 0.04 Kg.m? and maximum torque of 16 Nm (06) is connected to a uniformly distributed arm of mass 4 kg with concentrated mass of 4 kg at its end. The inertia of gear is 0.02 Kg.m? and inertia of pinion is 0.01 Kg.m?, Calculate the total inertia felt by the motor and maximum angular acceleration it can develop if the gear ratio is (a) 4 and (b) 40. ‘Transformation matrix (As per John Craig): Trigonometrio short forms used: 3,0 tp [98% Bem, —sa,. $04.4, $980, C880, cp, Cid, ° 0 0 1 Page 3 of 4MB643_- Robotic Engineering Page 4 of 4Q2 Nirma University Institute of Technology ‘Semester End Examination (IR), May - 2017 B. Tech. in Mechanical Engineering, Semester-VI ME643 Robotics Engineering Roll NO, /Exam NO. ‘Supervisor's initial with date a | ‘Time: 3 Hours Max Marks: 100 Instructions: _1., Attempt all questions. 2, Figures to right indicate full marks. 3, Use section-wise separate answer book. 4, Draw neat sketches wherever necessary. 5. Use of general transformation equation given at the end of the paper is allowed. SECTION (A) Explain basic anatomy of the robotic manipulator. Explain robot classification based on control system. (B) In Figure 1, the location of the tool, £7, is not correctly shown, Using force control, the robot feels around with the tool tip until it inserts it into the socket at location $7. Once {G} and {I} are coincident, the position of the robot, {, is figured out by reading the joint angle sensors and computing kinematics. Assuming 47 and jf are known, give the transform equation to compute the unknown tool frame, 37. (4) ‘The wrist of a robotic manipulator is to be modeled using X-Y-Z Fixed angle. Determine following for this representation. i). Calculate orientation matrices and combined rotation matrix corresponding to fixed ‘angle presentation. (i) Given an arbitrary rotation matrix with Fa Ta Mo clementsR=|r 7 T|, derive equations to calculate all angles. (iii) Given the rotation matrix below, find values of all angles. 0-10 R=|0 0 -1 10 o} (B) A frame (B), is rotated about axis z of frame {4} by 45°, translated 5 units in direction of Xa, 2 units in direction of Ys and -2 units in direction of Za. Calculate “P with’p=[2 1-2)". Also Give "p with*P=[0 1 of" (A) For a robotic manipulator shown in Figure 2, it is required obtain forward ‘kinematic solution for end effector (point P) with respect to base of the robot. Calculate following for this robot. (1) Assign coordinate system to each joint. (2) Prepare D ~H Parameter table. (3) Calculate transformation matrix for each joint. OR (A) For a robotic manipulator shown in Figure 3, joints are indicated by Pun Lote (05) (06) (08) (05) (14) (14)Q4 (B) (a) (B) ‘ME643 — RoboticsEngineering number 1, 2 and 3. Base frame is indicated by number 0. It is required obtain forward kinematic solution for end effector (point 4) with respect to base of the robot. Calculate following for this robot. (1) Assign coordinate system to each joint. (2) Prepare D ~ H Parameter table. (3) Calculate transformation matrix for each joint. Carry out Inverse kinematic analysis for the robotic arm having following (12) transformation matrices. e086 sing: 0 0 cosh: -sinds 0 0 er =[ sin cose 0 0 3 0 0 1 0; » 0 0 0 o1 i =sin®, 0 Ly sind, cos@, 0 0 o 10 o o4 SECTION-II ADC motor has torque constant of 30 N-m/A and a voltage constant of (06) 0.015 Volt/RPM. The armature resistance is 30 @. When the joint is stationary the voltage applied is 60 V. Determine (i) torque exerted by the motor on the joint when robot is stationary (ii) determine back emf and the torque when the motor is running at 500 rpm and 1000 rpm. ‘The mechanical gripper shown in Figure 4 uses friction to grasp a part weighing 30 N. The coefficient of friction between the part and the gripper is 0.25. The gripper is accelerating horizontal (Kg = 2.0), The diameter of piston of pneumatic cylinder is 70 mm and factor of safety is 15. Take length L1 = 65 mm, L2 = 45 mm, L3 = 10 mm and L4 = 40 sum, Calculate (i) the gripping force (P,) to retain the part (ii) actuation force (Ps) required to achieve this gripping force (ii) The pressure of air required to operate the piston. What do you mean by Gait cycle? Explain various Gait pattem for six legged robot with neat sketch. ‘The transformation matrices for a 3 dof manipulator are given as below. Determine following for this manipulator. (i) Calculate angular velocity components for each joint and absolute angular velocity$a. (ii) Determine Velocity Jacobian and ii) Given the endpoint linear velocity as Vx= Vy= 1 m/s, solve for the joint rates. (10) (06) (12) 4-5 0 0 100 0 100 0] ep[s 4 0 0 0 0 -1 ~d;|,__\0 0 -1 ~d, rjo o raf jo1o of* jor o of jo o o1) looo 1 ooo 1 oh 0 dys 0 0 oo J Page 20f 4(B) Q-6 (A) ®) ME64S — RobotiosEngineering OR 2 DOF robot is shown in Figure 5 with revolute ( and slider (R) joint. (12) Here, mois mass of link and me is mass of slider. The mass me is taken ‘at the center of link at distance I at angular position of @ and position of mass me is r at: this instance. Determine dynamic equation using Lagrange equation. Neglect gravity, potential energy and inertia of links. Briefly discuss trapezoidal velocity profile and corresponding position (10) profile with respect to time. Derive necessary equation to decide time required for acceleration and condition of value of acceleration. A motor with rotor inertia of 0.05 Kg.m? and maximum torque of 16 Nm (06) is connected to a uniformly distributed arm of mass 4 kg with concentrated mass of 5 kg at its end. The inertia of gear is 0.02 Kg:m? and inertia of pinion is 0.01 Kg-m?. Calculate the total inertia felt by the motor and maximum angular acceleration it can develop if the gear ratio is (a) 3 and (b) 30. ‘Transformation matrix (As per John Craig): Trigonometric short forms used: are 8, 58, 0 ay | GeO =c0s8,5, SOC, BCH, ~$H4 ~ 8A d,) by =C0,—98345 50,50%,, COS, CO, Clad, 0 0 0 1 Page 3 of 4‘ME643 - Roboticsingineering Page 4 of 4Qu Q2 3 Nirma University Institute of Technology Semester End Examination (IR) May 2016 B.Tech. Mechanical Engineering, Semester VI ‘ME643 ~ Robotic Engineering Roll NO. /Exam NO. Supervisor's initial with date Co Time: 3 Hours Max Marl 00 Instructions: 1. Attempt all questions. (a) &) @) (B) (a) 2. Figures to right indicate full marks. 3. Use section-wise separate answer book. 4. Draw neat sketches wherever necessary. 5. Use of general transformation equation given at the end of the paper is allowed. SECTION-I Frame describing a base of the robot and an object are given relative to (06) the universe frame as follows: 100 15 0-10 20 0 0 -1 20 1 0 0 -15 ap 14 ‘i Hl 1 0 of Alo 0 1 0 | Determine @ transformation ooo. ooo. AT of the robot configuration if the robot hand is to be placed on the object. ‘The wrist of a robotic manipulator is to be modeled using Z-Y-Z Eular (08) angle. Determine following for this representation. {i). Calculate combined rotation matrix corresponding to Eular angle. (ii) Given an arbitrary rotation matrix with elementsR=|;,|, i= 1 to 3, j= 1 to 3, derive all angles. For a robotic manipulator shown in Figure 1, it is required obtain (12) forward kinematic solution for end effector (point 4) with respect to base of the robot. Calculate following for this robot. (1) Assign coordinate system to each joint. (2) Prepare D — H Parameter table. (3) Calculate transformation matrix for each joint. Consider the manipulator with DH parameters below. (06) i Tan Ton [a [e 1 |o [o 0 a 2 [0 |-90 [& Jo 3 [as [0 0 & Draw the conceptual sketch of the robot and show cooedinate systems to each joint. For a 4 DOF manipulator, the joint - link transformation matrices are (14) as follows: Page dof 3« (B) Q4 (A) ®) 25 (A) ®) 6) fe -s 10 0 0 or | oo1 0 lo 9 o -1 0 4,/ an) ooo 100 4 «0 07” o 10 Ss G00 re 8s * "lo 01 o 10 oo 0 o o1 where th, do, ds and & are joint variables. if the tool configuration matrix at a given instant is as given below, obtain the magnitude of each joint variable. 0.25 0.433 0.866 -89.1 _| 0433 -0.75 -0.5 ~45.67 ~|-0866 -05 00 50 o 0 0 1 OR The transformation matrices for a 3 dof manipulator are given as below. Determine following for this manipulator. (i) Calculate angular velocity components for each joint and absolute angular velocity a7. (i) Determine Velocity Jacobian and (iii) Given the endpoint linear velocity as Vz = Vy = 1 m/s, solve for the joint rates. % -s 0 0 106 0 100 0 ep_|h & 0 Of, |0 0 -1 -d,|,,_]0 0 -1 =a, T=\o 0 1 aft -lo1 0 of Jo1 0 of o 001 ooo 1 ooo 1 A transformation matrix {7 is given below. Calculate its inverse matrix. 0.707 -0.707 0 11) 0.707 0.707 0 -1 o 0 18 0 0 0 SECTION-II Explain the following terms in context to robotics engineering. (a) Payload, (b) Work envelope, (c) Dexterity A simple pivot gripper is used to hold boxes as illustrated in the following Figure 2. The gripping force required is 20 kef. The gripper is to be actuated by a hydraulic piston device. Find out actuating force required. Also suggest the appropriate piston diameter. What is Gait cycle? Explain the gait pattern of six legged robot. And also explain with neat sketch (a) Trot, (b) Bound, (c} Pace. Determine the dynamic model of 1-DOF planar manipulator with one rotary joint. Assume the link to be a thin rectangular cross section with length L and mass M. Obtain the solution using Lagrange formulation. OR (1) What do you mean by sensors and transducer? Classify the sensors Page 2 of3 ME643 ~ Robotic Engineering (14) (04) (04) (10) (08) (12) (12)E643 — Robotic Engineering in context to robotic engineering. (2) What is meant by AI? Explain the Turing test and its criticism. (A) Third joint of SDOF robotic manipulator is at 60° at start of cycle and (10) to move by an angle of 45° in 3 second to reach at goal state. Find the cubic trajectory for this joint to achieve specified motion. The joint motion start at rest and end to rest at destination location. Plot position, velocity and acceleration of joint as function of time. (8) A motor with rotor inertia of 0.05 Kg.m? and maximum torque of 18 (06) Nm is connected to a uniformly distributed arm of mass 6 kg with concentrated mass of 2 kg at its end. Ignoring inertia of a pair of reduction gear and viscous friction in the system, calculate the total inertia felt by the motor and maximum angular acceleration it can develop if the gear ratio is (a) 3 and (b) 30. ‘Transformation matrix (As per John Craig): 8 8 Bc, Bea, —80,, —Sa4, $0,804, 60:80, Cay Cad, ° 0 0 1 ‘Transformation matrix (As per classical DH and other): Cy Sele Sau 81H C4, ~CaSe, 84 5, c, d, o o 1 ‘Trigonometric short forms used: © =66, = sin 9.059 =Ge2—SS205 2 = 802 +82 Page 3 of 3