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1

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS

(Automobile Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

1. (a) What is precision of movement of a robot? Explain the terms special resolu-

tion, accuracy and repeatability?

(b) A robot with single degree of freedom has one sliding joint with a full range of

1.0m. The robot’s control memory has a 12-bit storage capacity. Determine

the control resolution for this axis of motion. [8+8]

(b) Form dependent finger. [8+8]

3. (a) State the differences between world coordinate system and tool coordinate

system.

(b) What is homogenous transformation of coordinates? [8+8]

4. State and explain the various inputs for an inverse kinematics algorithm. [16]

5. For a planar RP manipulator, derive the Jacobian matrix and find the Singularties.

[16]

6. (a) Discuss in detail the MOVE and RELATED statements of Robot languages.

(b) What are the characteristics of AL Robot programming language? Explain.

[8+8]

(b) A Hydraulic rotary vane actuator is to be used for a twist joint. The power

source can generate upto 8 Mpa of pressure for delivery to the cylinder at

a rate of 25 cm3 /sec. The outer and inner radii of vane are 62 mm and 19

mm respectively. The thickness of each vane is 5 mm. Determine the angular

velocity and the torque that can be generated by the actuator. [8+8]

(b) Discuss the Robotic series Assembly system. [8+8]

⋆⋆⋆⋆⋆

1 of 1

Code No: R05322402 Set No. 2

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS

(Automobile Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

(b) How can you relate industrial automation and robotics? [8+8]

(b) Gear operated fingers

(c) Lever (links) operated fingers. [16]

3. (a) Write the homogeneous transformation matrix for a rotation of 900 about

the z-axis, followed by a rotation of −900 about the x-axis, followed by a

translation of (3, 7, 9).

(b) Suppose that instead of a frame, a point P = (3, 5, 7)T in space was translated

a distance of d = (2, 3, 4)T . Find the new location of the point relative to the

reference frame. [8+8]

5. Determine the manipulator Jacobian matrix for the 3 DOF articulated arm Shown

in figure 5. [16]

Figure 5

6. (a) What do you mean by branching in robot programming? What are the branch

capabilities? Explain.

1 of 2

Code No: R05322402 Set No. 2

(b) Using the 8 × 8 grid, show the path taken by a cartesian robot if it is directed

to move between point ( 1, 1 ) and point ( 6, 6 ) using joint interpolation.

[10+6]

(b) What is the output value of an absolute encoder if the shaft angle is 1 rad and

the encoder has 8 tracks? [8+8]

(b) Discuss the robot application in pick - and - place operations. [8+8]

⋆⋆⋆⋆⋆

2 of 2

Code No: R05322402 Set No. 3

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS

(Automobile Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

1. (a) Explain the difference between hard automation, flexible automation and ro-

botics.

(b) What is meant by the statement “an industrial robot does not work by itself”?

Discuss. [8+8]

2. (a) Describe the three compliance conditions normally found in robot applications.

(b) What is an RCC device? Explain. [9+7]

3. A jointed-arm robot of configuration VVR is to move all three axes so that the first

joint is rotated through 500 , the second joint is rotated through 900 and the third

joint is rotated through 250 . Maximum speed of any of these rotational joints is

100 /s. Ignore the effects of acceleration and deceleration.

(a) Determine the time required to move each joint if skew motion is used.

(b) Determine the time required to move the arm to the desired position and the

rotational velocity of each joint, if joint-interpolated motion is used. [8+8]

4. The joints and links of the RR:R manipulator in figure 4, figure 4 have the following

values: θ1 = 200 , θ2 = 150 , θ3 = 250 , L1 = 500mm, L2 = 400mm and L3 = 25mm.

Determine the values of x and z in world space coordinates. [16]

1 of 3

Code No: R05322402 Set No. 3

Figure 4

Figure 4

5. For a planar RR manipulator, derive the Jacobian matrix and find the linear ve-

locity and angular velocity of the end effector. [16]

(b) Discuss the important characteristics of robot - oriented language - position

2 of 3

Code No: R05322402 Set No. 3

specification. [8+8]

7. A stepper stone motor is to be used to drive each of the three linear axes of a

cartesian coordinate Robot. The motor output shaft will be connected to a screw

thread with a screw pitch of 3 mm. It is desired that the control resolution of each

of the axes be 0.6 mm.

(a) To achieve this control resolution, how many step angles are required on the

stepper motor?

(b) What is the corresponding step angle?

(c) Determine the pulse rate that will be required to drive a given joint at a

velocity of 7.5 cm/sec. [4+4+8]

(b) Discuss the robot application in pick - and - place operations. [8+8]

⋆⋆⋆⋆⋆

3 of 3

Code No: R05322402 Set No. 4

III B.Tech Supplimentary Examinations, Aug/Sep 2008

ROBOTICS

(Automobile Engineering)

Time: 3 hours Max Marks: 80

Answer any FIVE Questions

All Questions carry equal marks

⋆⋆⋆⋆⋆

1. (a) What is precision of movement of a robot? Explain the terms special resolu-

tion, accuracy and repeatability?

(b) A robot with single degree of freedom has one sliding joint with a full range of

1.0m. The robot’s control memory has a 12-bit storage capacity. Determine

the control resolution for this axis of motion. [8+8]

2. With the aid of a sketch, describe the mounting of welding torch gun on robot

wrist. [16]

(a) Translation in 3D

(b) Rotation in 3D

(c) Translation followed by rotation.

4. The joints and links of the RR: R manipulator in figure 4, figure 4 have the follow-

ing values: θ1 =450 , θ2 =450 , θ3= -1350 , L1 =500mm, L2 =400mm and L3 =25mm.

Determine the values of x and z in world space coordinates. [16]

1 of 3

Code No: R05322402 Set No. 4

Figure 4

Figure 4

5. Using Lagrange - Euler formulation, derive the expression for the joint Torques of

a planar revolute jointed Robotic manipulator having unequal links. [16]

i. Trajectory

2 of 3

Code No: R05322402 Set No. 4

ii. Spline

iii. Joint space scheme

iv. operational ( or cartesian ) space scheme.

(b) Explain the following three steps of trajectory planning

i. Task Description

ii. Selecting and Employing a trajectory planning

iii. Computing the trajectory. [8+8]

7. (a) A stepper motor has four poles on the stator and five slot - like poles on either

side of the rotor. What is the smallest step that can be made?

(b) How is the direction of rotation tracked when a simple incremental optical

encoder is used to transduce rotation? Give the block diagram and explain

the salient points with timing diagrams. [8+8]

8. (a) What are the essential characteristics of a spot welding manipulator? Explain.

(b) Explain the four step process of Robotic assembly. [8+8]

⋆⋆⋆⋆⋆

3 of 3

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