ROLL NO.

:
IIITDM Kancheepuram
End Semester Examination (July-Dec. 2021)
MEC 309: Robotics and Automation
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Total Marks: 50 Date/Time: 2-12-2021 / 2 - 5 PM, 3 Hrs

 If any additional data required, the same could be assumed suitably and justified.

SECTION- B: Compulsory (6 x 5 Marks each=30 Marks)

1. A 3 dof RRR robot manipulator is described in the following DH table. If the end-position of the
manipulator is [3 2 1]T units, find its joint angles. (6 Marks)

Link, i ai di θi , αi,
deg deg
1 0 0 θ1 0
2 0 0 θ2 -90
3 2 0 θ3 0

2. Given the position and orientation of the end effector as follows,

find the new location for a differential rotation of 0.15 radians about z-axis followed by a differential
translation of [0.1 0.1 0.3]T

3. A trajectory for an end effector of a robot has to be designed considering linear fit with parabolic
blends. The initial and final positions of the actuator are 15 deg and 75 deg respectively. The total time
and the maximum acceleration allowed are 3 seconds and 40 deg/s 2 respectively. Calculate blending
period, max velocity, position at the end of blending time and position at the end of linear period.

4. List out any five sensors being used in robots, explain their working principle with neat sketches and
mathematical model. Also mention at least one application for each sensor.

5. Design a double-pump (high pressure-low flow pump and low pressure-high flow pump) hydraulic
circuit suitable for a punch-press application.

6. In an automated medical industry, plastic bottles containing “Intravenous fluid” are moving on a
conveyor line. An automatic robotic system has to be designed for automatic identification and
removal of the bottles if the contents are contaminated with human hairs or with any other foreign
items similar to human hairs or larger in size. The conveyor should not be stopped during the
identification and removal of contaminated bottles. The contaminated bottles, after removal from
conveyor, have to be stored in a bin placed adjacent to the conveyor. The number of contaminated
bottles has to be displayed and to be updated continuously. Sketch the layout of a suitable system

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indicating all vital equipments and sensory and display devices. Sketch the elevation of the robot
manipulator and show all links, joints, actuators, sensors and controller.