Code No: RR411406 Set No.

1
IV B.Tech I Semester Regular Examinations, November 2007
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Write a detailed notes about Flexible Automation, with applications. [16]

2. With aid of sketches describe five commonly used mechanical grippers. Manufac-
turing Industry. [16]

3. Assuming a cube of 2a X 2a X 2a is being rotated through an angle of α about

the Zo axis and then rotated through an angle of θ about the u axis determine the
inertia tensor in the (Xo, Yo, Zo) co-ordinate system. [16]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]

5. Find the joint space singularities of the cylindrical -coordinate robot. Describe the
self-motions of the manipulator at singularities if present. [16]

6. Establish the dynamic model of a one -axis Robot (inverted pendulum) with Lagrange-
Euler formulation. [16]

7. Discuss a method to compute a 4-3-4 joint trajectory. [16]

8. (a) Draw the figure of a hydraulic system of robot and show how the out put shaft
velocity is proportional to the flow of the oil in motor-pump combination for
a hydraulic system. [10]
(b) Compare and contrast hydraulic and Electrical actuators. [6]

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Code No: RR411406 Set No. 2
IV B.Tech I Semester Regular Examinations, November 2007
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Discuss the specific features of a Robot that are required for arc welding process
and how it different from one that is used for spot welding? [16]

2. What are the basic components of a robotic system? Explain the functions of each
of the components with a diagram. [16]

3. Suppose ‘R’ represents a rotation of 900 about yo followed by a rotation of 450

about z1 . Find the equivalent axis/angle to represent ‘R’. Sketch the initial and
final frames and the equivalent axis vector ‘k’ [16]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]

5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
robot. [16]

6. Establish the dynamic model of a one axis Robot (inverted pendulum) with Newton-
Euler formulation. [16]

7. Discuss a method to compute a 4-3-4 joint trajectory. [16]

8. (a) With a neat sketch explain the working of a resolver. [10]

(b) What are the advantages and disadvantages of resolver? [6]

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Code No: RR411406 Set No. 3
IV B.Tech I Semester Regular Examinations, November 2007
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Discuss the specific features of a Robot that are required for arc welding process
and how it different from one that is used for spot welding? [16]

2. Sketch and explain some linkage mechanisms for mechanical grippers and explain
design procedure for any one of them. [16]

3. Suppose ‘R’ represents a rotation of 900 about yo followed by a rotation of 450

about z1 . Find the equivalent axis/angle to represent ‘R’. Sketch the initial and
final frames and the equivalent axis vector ‘k’ [16]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]

5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
robot. [16]

6. Compare the differences between the representation of angular velocity and kinetic
energy of the Lagrange-Euler and Newton - Euler equations of motions in the fol-
lowing table. [16]

Lagrange Euler Newton Euler

Angular velocity
Kinetic velocity

7. Discuss a method to compute a 4-3-4 joint trajectory. [16]

8. With a neat sketch describe the working of an absolute encoder. Explain how the
angular position is calculated in an absolute encoder. [16]

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Code No: RR411406 Set No. 4
IV B.Tech I Semester Regular Examinations, November 2007
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Write a detailed notes about Programmable Automation, with the applications.

[16]

2. With the aid of a sketch describe the mounting of a spot welding electrodes on a
robot wrist. [16]

3. Suppose ‘R’ represents a rotation of 900 about yo followed by a rotation of 450

about z1 . Find the equivalent axis/angle to represent ‘R’. Sketch the initial and
final frames and the equivalent axis vector ‘k’ [16]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]

5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
robot. [16]

6. Establish the dynamic model of a one -axis Robot (inverted pendulum) with Lagrange-
Euler formulation. [16]

7. (a) Explain the different methods of splitting a joint trajectory. [8]

(b) A single link rotary robot is required to move from θ (0) = 45 to θ (2) = 900
0

in 2 seconds. The joint velocity and acceleration are both zero at the initial
and final positions. What is the highest degree polynomial that can be used
to accomplish the motion? What is the lowest degree polynomial that can be
used to accomplish the motion? [8]

8. (a) Explain various power transmission systems used in robots. [8]

(b) Discuss the effects of the above mechanical systems on the performance of the
robot. [8]

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