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lndian Institute~ of Tc~chnology, Kharagpur

Department of Mechanical Engineering
Date: ; Time: 2 hmm;; Full Marks: 30; No. of studcnts:76
Spring Sem. 2012-2013 (Mid. Scm.); Subject No. N F 3 0 0 0 3j M F 30 6 0 2
3-rd and 4-th Year B. Tech. and DD students;
Subject Name: Robots and Computer-Controlled Machines
Instructions: Use a separate answer book for each part.
PART-A
Answer all the questions. Assume suitable data, if necessary.
Marks: 9(2 + 4 + 2 + 1) + 6 = 15.

Q.A~
(a) Explain the working principle of a vacuum gripper.
(b) Let us suppose that a serial manipulator is to be used to make some drilled holes on a steel
plate of dimensions 200mm x lOOmm x 30mm. What is the minimum degrees of freedom it
should have? Prepare a suitable sketch of this manipulator and draw its workspace.
(c) Write a short note on "Applications of robots in space".
(d) How does a revolute joint differ from a twisting joint used in robots?

Q.A2
The concept of roll, pitch and yaw angles ha.'l been used to represent the rotation of a frame
{B} with respect to.the reference frame {A}, i.e., ~R. Derive the rotation matrix. Let us
suppos.e that the above rotation can also be expressed by. a 3 x 3 rotation matrix a.'l given
below.

-0.250 0.433 -0.866 ]

~R = 0.433 -0.750 -0.500
[
-0.866 -0.500 0.000

Determine the angles of roll, pitch and yaw.

&-vd D;f POVt;t- A------~

1
 Part B- Answer in separate ans script- Full marks 15- answer all questions
1. Make a GTL program for the following part of 10 mm thickness. [6]
y
2 75 en a X... Y.. B••
in = pM, *··
·In ;;; [-]c;m, l·Jcp
pn • [om] X... V•• In = t-]cm. a ..
pn = (OMJ m.. B.. .Ill • ('•JCP, IJIU
po= lm, lp lo • pm, 1-Jcp
pn" '(:lim, cp[.1521 fn • [-Jim. d ..
p11 = em, (-]lp
[,s2]
pn " em. cp [,$21 en= [om) 1.. J .. .-..
IC!l• tomj m.. s •. r..
In " (ortl] X.. Y.. , (0111 X.• Y•• ~~:n • [·JIM, (·)lp, i-.•
In • [om] K. Y.., 11 .. · (11• I~Jim. [-Jcp, r..
In = (Clt'l1) 1.• J .• r.. , (Oil} L J_ r. .ct:~ ~ (·)(;p, Him, r•.
0
0 lri .. (~ L J•• r .. , a.. m= pltj, HI:>.'··
rl
1n "' (o~ r.. J.. '··· (op] X.. v .• en= [-lfj:!, pm, r••
In .. (orn] X.. Y... {opj'l .. J.. r.. en= 1-)l:m.. Fjcp. r ..
X
4n = pm, Pi\ en • IW", [-Jcp. r •.
en • (·]cp, pm, r•.
CO• ~m. Jllll, t ..
en • pm, [-]fp
en = pm, (-fe+ ,.621
en =· pm, pq, pt:
c:n = llfh, r••
c:n "' [·)em, [·Jd ..

2. In a techno-fest for innovative designs- a student demonstrates a surface roughness tester he has
developed. The stylus is moved with velocity V by a distance of 4 mm and it collects n number of profile
data, one profile data for each step of the stepper motor. Stepper motor moves one step for each pulse
and covers one rotation in 200 steps. The frequency of the pulses= f = 20 Hz. Pitch of lead screw= 1
mm.
(a) Find the value of n and V [2+2]
(b) What is the distance covered by the stylus b~tween two readings? [2]
Vof
Pulse freq, f
Nut Gear Stepper ..Il.__fl_IL_IL
motor
box Yz

3. A vendor gets an order to make the logic circuit for a device that accepts one drop of blood as input. The
schematic of the device is as shown. The logic circuit is to be such that output d will be 1 if
a. The donor has low blood sugar AND he/she has Rh factor AND his/her RBC count is high OR
b. The donor has high blood sugar AND he/she has Rh factor AND his/her RBC count is high OR
c. The donor has low blood sugar AND he/she has Rh factor AND his/her RBC count is low

a, b c
I
bl ood d
Sensors Logic
circuit

The output of the sensor unit is:

i) If blood sugar is low, a = 1, else a = 0
ii) If Rh factor is present, b =1, else b = 0
iii} If RBC count is high, c = 1, else c = 0
Design the logic circuit [3]