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Code No: D8004 JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD M.Tech II - SEMESTER EXAMINATIONS, APRIL/MAY-2013 INDUSTRIAL ROBOTICS (MECHATRONICS) Time: 3hours Max.Marks:60 Answer any five questions All questions carry equal marks --1.a) Describe the four basic configurations of robotic manipulators and compare the relative merits and demerits. b) Discuss the speed capabilities and load carrying capacities of current industrial robots. 2.a) A resolver is used to indicate angular position of a rotational wrist joint. The excitation voltage to the resolver is 24 V. The resolver is connected to the wrist joint so that a given rotation of the output link corresponds to an equal rotation of the resolver. At a certain moment in time, the movement of the wrist joint results in voltages across the two pairs of a stator terminals to be Vs1 = 10.0 V and Vs2= -21.82 V. Determine the angle of the rotational joint. Explain the following four basic categories of uses of sensors in industrial robots. ) Safety monitoring ) Inter locks in workcell control ) Part inspection for quality control ) Position of objects in robot cell

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::2:: 5.a) b) 6. 7.a) b) Derive the jacobian matrix for a planner R-R robotic manipulator. Q6 Q6 Q6 Q6 Q6 Develop the expressions for the motion parameters in a joint considering a cubic polynomial fit. Using the Lagrange Euler formulation, derive the expressions for the joint torques of a planner R-R manipulator. space scheme by

Q6 Q6 Q6 Q6 Q6 Q6 Explain in detail about imaging devices and lighting techniques of machine vision.
Discuss about WAIT, SIGNAL and DELAY commands of robot programming. What are the features of first, second and future generation languages? Explain with the help of sketches the Robot-centered cell and In-line robot cell.

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