Code No: RR411406 Set No.

1
IV B.Tech I Semester Supplimentary Examinations, February 2008
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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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. (a) Describe the effects of pre-multiplying and post-multiplying points in a given
frame by homogeneous transformation. [8]
(b) Compute the value of the transformation matrix for the end point of a motion
in which a robot moves a container forward by ‘dy’ units in z direction and
then dumps out its contents by rotating the about sanuaxin container by 1800 .
[8]
4. For the figure 4, find the 4 × 4 homogenous transformation matrices i−1 Ai and 0 Ai
for i = 1, 2, 3, 4, 5. [16]

Figure 4

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Code No: RR411406 Set No. 1
5. Find the joint angles needed to bring the end effector of the manipulator shown
in figure 5 to a given position q by the D-H method. Corresponding to a given
position of q, how many number of possible arm configurations exist? [16]

Figure 5
6. Develop the expressions for the joint torques of a planar R-R manipulator using
Lagrange-Euler Formulation. [16]

7. List out the constraints for planning joint interpolated trajectory and explain them
clearly in detail. [16]

8. (a) With a neat sketch explain the construction and working of a pneumatic ac-
tuator. [10]
(b) What are the advantages of disadvantages of electrical actuators? [6]

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Code No: RR411406 Set No. 2
IV B.Tech I Semester Supplimentary Examinations, February 2008
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Discuss in detail the three classes of industrial automation. [16]

2. How do you classify robot end-effectors? Discuss in detail. [16]

3. (a) Derive rotational transformation formula using vector techniques. [7]

(b) Find the composite rotation matrix representing the following: [9]
i. A rotation of α about u-axis
ii. A rotation of θ about v-axis
iii. A rotation of φ about y-axis.

4. Suppose R represents a rotation of 900 about y0 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]

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

6. Develop the general expressions for kinetic energy and potential energy of an ele-
ment of a robotic manipulator. [16]

7. An automated guided vehicle has to be designed to aid visually disadvantages

people. What strategy would you adopt to avoid obstacles and path planning?[16]

8. (a) What is the advantage of using a velocity sensor in a robot used in a man-
ufacturing plant? Explain the effect of inertia on the robot motion velocity.
How is it compensated? [10]
(b) What are the limitations of hydraulic actuators? [6]

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Code No: RR411406 Set No. 3
IV B.Tech I Semester Supplimentary Examinations, February 2008
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Explain in brief the present industrial applications of Robots. [16]

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

3. (a) Describe the effects of pre-multiplying and post-multiplying points in a given

frame by homogeneous transformation. [8]
(b) Compute the value of the transformation matrix for the end point of a motion
in which a robot moves a container forward by ‘dy’ units in z direction and
then dumps out its contents by rotating the about sanuaxin container by 1800 .
[8]

4. (a) What is a homogeneous transformation matrix? Explain

(b) Explain the basic homogeneous rotation matrix and basic homogeneous trans-
lation matrix.
(c) The point auvw = (5, 3, 2)T is to be translated at distance of +4 units along OZ-
axis and -8 units along the OX-axis. Using the homogeneous transformation
matrix, determine the new point axyz . [4+4+8]

5. Consider the three-link articulated robot of figure 5. Derive the forward kinematic
equations using the DH-convention. [16]

Figure 5
6. For the 6-DOF Stanford manipulator in figure 6. Obtain the Jacobian. [16]

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Code No: RR411406 Set No. 3

Figure 6
7. (a) How are errors in motion compensated during trajectory planning? Does
it justify the need for a combination of an encoder and a position sensor?
Explain. [8]
(b) Briefly explain the different types of motions of the manipulator that are to
be considered while planning a trajectory. [8]

8. Explain the reasons for choosing a particular kind of actuator? Hydraulic, pneu-
matic, electrical. Comment on the resolution, speed and force exerted by these
systems on the product or object. [16]

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Code No: RR411406 Set No. 4
IV B.Tech I Semester Supplimentary Examinations, February 2008
ROBOTICS
(Mechatronics)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. List out the capabilities that are desirable of a Robot system when used as an
integral part of equipment. [16]

2. Name five different types of robot end effectors. Compare and contrast the end
effectors from the viewpoint of their functions. [16]

3. A manipulator is required to move along a straight line from point A to point B,

where A and B are respectively
 described
 by 
+1 0 0 5 0 1 0 20
 0 1 0 10 
 and B =  0 0 1 30 
 
A=  0 0 1 15   1 0 0 5 
0 0 0 1 0 0 0 1
The motion from A to B consists of a translation and two rotations. Determine θ,
ψ, φ and x, y, z, for the drive transform. Also find three intermediate transforms
between A and B. [16]

4. Suppose R represents a rotation of 900 about y0 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]

5. Solve the inverse position kinematics for the cylindrical manipulator of figure 5.
[16]

Figure 5
6. Distinguish clearly between forward Newton - Euler equations and Forward Newton
-Euler equations and backward Newton euler Equations, with a simple example.
[16]

7. (a) Explain how a trajectory is planned for CP robot. [10]

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Code No: RR411406 Set No. 4
(b) List out the constraints for planning joint interpolated trajectory. [6]

8. (a) What are the requirements of actuators employed in conventional robotic ap-
plications?
(b) What are the advantages and limitations of electric servomotors? [8+8]

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