Dh a Ji Gan sl SaERETTFEOAL HALTER EANA UNIVERSITI TEKNIKAL MALAYSIA MELAKA PEPERIKSAAN AKHIR SEMESTER II FINAL EXAMINATION SEMESTER 11 SESI 2017 / 2018 SESSION 2017/2018 FAKULTI TEKNOLOGI KEJURUTERAAN KOD MATAPELAJARAN SUBJECT CODE MATAPELAJARAN ‘SUBJECT PENYELARAS COORDINATOR KURSUS COURSE MASA, TIME TARIKH DATE TEMPAT VENUE ‘ARATIAN KEPADA CAL INSTRUCTION TO CANDIDATES BETR 3433 ROBOTIK INDUSTRI INDUSTRIAL ROBOTICS MOHAMED AZMI BIN SAID 3BETR 2. JAM 30 MINIT 2 HOURS 30 MINUTES 28 MEI 2018 28 MAY 2017 BILIK KULIAH 41-42, FTK KT. LECTURE ROOM 41-42, FTK, KT SULIT 1. Jawab TIGA (3) soalan sahaja pada BAHAGIAN A dan SATU (1) soalan pada BAHAGIAN B. Answer THREE (3) questions only in PART A and ONE (1) question in PART B. 2. Tuliskan semua jawapan anda di atas kertas jawapan yang disediakan, Write your answer on the answer sheet provided 3. Setiap jawapan kepada soalan hendaklah dimulakan di muka surat yang baru. > Beta = At + A2*cos(Theta2) >> Chi = A2* sin(Theta2) >> Theta‘ = ( atan(Py/Px) - atan(Chi/Beta) ) >> nx=0, ny=1 >> Alpha = atan(ny/nx) >> Theta = Alpha — (Thetat + Theta2) Rajah $3 (@) Jika 0, diambil positif, lengkapkan nilai dalam Rajah $3(a) a= = = Rajah $3(a) [8 markah] (b) Satu lokasi baru dijumpai kamera seperti berikut: m, 0, a, p,) [1 00 2 n, 0, a, py| |0 103 n, 0, a, p,| |9 010 0 0 0 ij joo ot Jika 6, diambil nilai negatif, lengkapkan nilai dalam Rajah $3(b) O_o os Rajah $3(b) [8 markah] SULIT(BETR 3433) SULIT (©) Sika jawapan dalam soalan $3(a) mewakili mekanisma planar 3 DOF, lakarkan posisi untuk mekanisma planar (berserta semua paksi-paksinya) dengan melengkapkan Rajah S3(c) (kekalkan putaran pada paksi Yo Posisi Mula Xe Rajah S3 (¢) (3 markah] (@ Sika jawapan dalam soalan $3(b) mewakili mekanisma planar 3 DOF, lakarkan posisi untuk mekanisma planar (berserta semua paksi-paksinya) dengan melengkapkan Rajah S3(d) (Kekalkan putaran pada paksi Z) reflek kepada kedudukan kamera tersebut. Yo Posisi Akhir Xe Rajah S3 (d) [3 markah] a) Penderia pandangan mengesan lokasi baru seperti matriks di dalam Rajah $3(e). Berikan alasan ringkas kenapa lokasi ini memberikan jawapan dalam nombor kompleks atau Jawapannya tidak boleh diperolehi. m0, a p,| [0 -1 0 2 n, 0, 4 p,{_|1 0 0 7 nm, 0, a, p,| |0 10 o 0 0 1} lo o1 Rajah $3 (¢) [3 markah} [25 MARKAH] SULIT(BETR 3433) SULIT BAHAGIAN B (JAWAB SATU(1) SOALAN SAHAJA) SOALAN 4 (@) Rajah $4(a) memunjukkan perancangan laluan robot. Tunjukkan titik-titike penting, Rekakan ENAM (6) persamaan yang diperlukan dalam perancangan robot untuk sepanjang segmen I (strategi kubic). a) 1s 10 2 3 Rajah S4(a) [14 markab] (b) Lakarkan konsep peringkat bahasa pengaturcaraan robot. [4 markah] (©) Rajah $4(c) menunjukkan satu jujukan aturcara robot. (i) Terangkan dengan jelas kod: WAIT UNTIMED +820. [3 markah] Gi) ‘Terangkan dengan jelas kod: PERFORM 30, +53. [3 markah] ii) Nyatakan berapa kali pengepit melepaskan objek (satu kitaran lengkap). [J markah] SULIT(BETR 3433) SULI MOVE-SLOW MOVE-UP, ORIENT cvcLe stant PERFORM 10, +St PERFORM 40, ‘ourpur +12 WAIT UNTIMED, +820 ourpur ~ 12 CLOSE PATHO.008 (CYCLE START) 1} oureur+s 2 } deLAvassec CLOSE PATH SuB ROUT. 110, 1} oureur-+ 2 } DELAY OS SEC (CLOSE PATH SUB ROUT, MOVE-PARTS FEEDER EXECUTE 100 [OPEN GRIPPER CLOSE PATH (100) MOVE-GET PART EXECUTE 110 ACLOSE GRIPPER) CLOSE PATH (110), PERFORM 20, +52 MOVE-APPROACH MACHINE PERFORM 30, + 83 DELAY BSEC RFORM 90, + $3 1” ourpur +11 ‘WAIT UNTIMED +520 output -11 PERFORM 30 CLOSE PATH 0.004 (CYCLE START) MovE-uP, UTeUT +10 WAIT UNTIMED + $20 af oureut - 10 CLOSE PATH 0.004 (CYCLE START) MOVE-PART TO MACHINE EXECUTE 100 (OPEN GRIPPER) ‘CLOSE PATH (100) MOVE-EXIT MACHINE MovE-ouTPUT +25 CLOSE PATH 0.004 (CYCLE START! Rajah $4 (¢) [25 MARKAH] SULIT(BETR 3433) SULIT SOALAN 5 (a) Berdasarkan Rajah S5(a), dalam arah manakah rangkai-1 dan rangkai-2 robotik akan memberikan kesan dinamik terbesar (lakarkan arah menunjukkan putaran lengan serta paksinya) Daya graviti x: ¥ Ko Rajah $5 (a) (b) Berdasarkan Rajah $5(a), dalam arah manakah rangkai-1 dan rangkai-2 robotik akan memberikan kesan dinamik terendah (lakarkan arah menunjukkan putaran lengan serta [3 markah] aksinya) [3 markah] (©) Bagaimanakah untuk mengelakkan atau mengurangkan masalah dinamik dalam rekabentuk robot. Terangkan dengan ringkas jawapan anda, [4 markah] (@ Apakah Robot Delta? Bagaimana ia memberi kelebihan dalam industry? [1 markah] (©) Hubungkait berkenaan kelajuan adalah antara ttik (r ,0) dan (Ps , Py). Tunjukan 7 langkah ‘menunjukkan matrix hubungan 2x2 adalah, (me or sind rc0s@ [14 markah] [25 MARKAH] SULIT(BETR 3433) SULIT PART A (ANSWER ALL QUESTIONS) QUESTION 1 (@) List FIVE (5) market leader companies for industrial robot. [5 marks} (©) Give THREE (3) advantages of using robots in the industry and THREE (3) disadvantages of employing robots. [6 marks] (©) There are three (3) mode selection can be selected on ABB IRCS controller as shown in Figure QU(c). Explain the function of every mode selection available. (6 marks] ‘Manual Mode Automatic Manual 100% Mode Mode Figure QI(c): ABB IRCS robot controller mode selection key. (@ There are two ways of robot arm movement can be programmed such as linear movement [OVEL) and joint movement (MOVEJ). Explain the difference between these type of type movement. [4 marks] (©) Give the complete code example to program MOVEL and MOVEB. Give explanations of every code written, [4 marks] [25 MARKS] -10- SULIT(BETR 3433) SULIT SOALAN2 (a) Explain the term universal system coordinate. [3 marks] (&) List THREE (3) objects operate with robot arm system. {3 marks] (©) Figure Q2(¢) shows two tool position can be connected to robot arm. Frame {A} is an original position of the tool which later moved to a new position and orientation in {B}. Determine (tool new position, 4P, (3 marks] (ii) tool new orientation, 4R [4 marks] Gif) transformation matrix for {B} with respect to original frame position {A}, 47° [3 marks] Figure Q2(c): Tool original position and orientation {A} moved to a new position and orientation {B}. ole SULIT(BETR 3433) SULIT (@ The tool in Figure Q2(¢) as shown above is later moved to a new position {C} as shown in transformation matrix 47° below. Calculate: 0.866 0.500 0 0 & 0.500 -0.866 0 0 iv 0 0 -10 0 0 ol (@ fixed angle rotation about axis X,,a [2 marks} (ii) angle rotation about Z,axis, 7 [2 marks} (iii) angle rotation about Y,axis, 6 [2 marks} (iv) Sketch the tool position in new orientation {C} with respect to original frame {A}. [3 marks] [25 MARKS] “1 SULIT(BETR 3433) SULIT | QUESTION 3 Figure Q3 shows a mechanism inverse kinematics programming is solved as follows: Pz =0 Px; 1,0,0,Py; 0,0,1,Pz; 0,0,0,1] >> Theta2 = acos( ((Px'2+Py'2) - (A1"2 +A2%2))/(2*A1*A2) ) [ check: Theta2: negative or positive ] >> Beta = At + A2*cos(Theta2) >> Chi = A2 * sin(Theta2) >> Thetat = ( atan(Py/Px) - atan(Chi/Beta) ) >> nx =0, ny=1 >> Alpha = atan(ny/nx) >> Theta3 = Alpha - (Theta1 + Theta2) Figure Q3 (a) If 6, is taken positive, complete the value in Figure Q3(a). a 2 = % % . Figure Q3(a) [8 marks} (b) A new location is found by camera as follows: m, 0, a, p,) [1 0 0 2) n, 0, a, p,|_|0 103 n, 0, a, p.| | o10 0 0 0 1) joo01 If 6, is taken negative, complete the value in Figure Q3(b). [8 marks] “13. SULIT(BETR 3433) SULIT (©) If the answer in Question Q3(a) represent a 3 DOF planar mechanism, sketch the position for planar mechanism (with all its axes attached) by completing Figure Q3(e) (Z, remains as Yo Start position X Figure Q3(c) [3 marks} (@) If the answer in Question Q3(b) also represent a 3 DOF planar mechanism, sketch the position for planar mechanism (with all its axes attached) by completing Figure Q3(d) (Z remains as rotation axis). Yo End position pe Xo Figure Q3(@) oan (©) Vision sensor detects new location as matrix in Figure Q3(e). Give short reason why this location give solution in complex number or the solution cannot be obtained. m, 0, a p.| [0 2 1, 0, a, py|_| 1 7 n, 0, @ p,| |0 0 oo o 1} [o 1 Figure Q3(e) {3 marks} (25 MARKS] “14 SULIT) (BETR 3433) SULIT PART B (ANSWER ONE (1) QUESTION ONLY) QUESTION 4 (a) Figure Q4(a) shows a robot path planning. Show all important point. Design six (6) equations for path planning in segment I (cubie strategy). 0) 1s 10 Figure Q4(a) (14 marks} (b) Sketch the concept of levels of programing language in robotics. [4 marks} (©) Figure Q4(6) shows a robot programing sequence. () Explain clearly the code: WAIT UNTIMED +820. [3 marks} (i) Explain clearly the code: PERFORM 30, +83. (3 marks} (ii) State how many times gripper releases an object (one complete cycle) [1 marks} 15: SULIT(BETR 3433) SULIT Move-sLow MOVE-UP, ORIENT CYCLE START PERFORM 10, +$1 PERFORM 40 ‘output + 12 WAIT UNTIMED, +820 ourrur — 12 CLOSE PATH 0.008 (CYCLE START) ourpur +t DELAY Os SEC MOVE-PARTS FEEDER EXECUTE 100 (OPEN GRIPPER) 2 rere 3} CLOSE PATH (1001 4} move-cet Pant EXEoUTE 110 {CLOSE GRIPPER) © f CLose PATH (110) PERFORM 20, + 52 2} WAIT UNTIMED + 20 3} ourpur-10 CLOSE PATHO.008 (Gycur SrART 8 } MOVE-APPROACH MACHINE 10 4 DELAY SEC 41 [PERFORM 20, + 89 v2} oureur +11 13} WAIT UNTIMED +520 14 f ourpur- 14 EXECUTE 100 (OPEN GRIPPER) CLOSE PATH (100) MQVE-EXIT MACHINE MOVE-OUTPUT +25 MOVE-PART TO MACHINE CLose PATH 004 ose rarisue nour. |. | PERFORMSO (eveue START? 110, ‘CLOSE PATH 0.008 TeveLe START ourrur es DELAY as SEC CLOSE PATH SUB ROUT. Figure Q4(¢) [25 MARKS} -16- SULIT(BETR 3433) SULIT QUESTION 5 (@) Base on the Figure Q5(a), in which direction of link-1 and link-2 of robotic arm will give highest dynamic effect (sketch to show rotation arm and axis). [3 marks] Gravity Force Figure Q5(a) (b) Based on Figure Q5(a), in which direction of link-1 and link-2 of robotic arm will give Jowest dynamic effect (sketch to show rotation arm and axis). [3 marks} (©) How to avoid or reduce dynamic problem in robot design. Brief your answers. [4 marks] (4) What is Delta Robot? How it gives advantage in industry? {1 mark] (©) The relationship of speed is between (r, 8) and (Px , Py) point, Show 7 steps to indicate the 2x2 relationship matrix is, _fomo ~rsind] [sine reoso | [14 marks] [25 MARKS] - END- “Te SULIT(BETR 3433) SULIT Lampiran 1 / Appendix 1 10 0 R,@)=|0 cO -s8 0 sd 60 08 0 86 R(8)=| 0 1 0 -38 0 66 08 -s0 0 R,(@)=|s0 8 0 o 0 1 cae caspsy—sacy casper +s0sy IRna(1Bra)=| sacB sassy +cacy sasfey—casy ~s8 Bsr fey -36, cee, 08,50. 0 -18- suLIT