1). what you mean by open loop linkage? Give two Examples.

Open loop, meaning they receive no feedback as to whether the output device has responded as requested
Ex STEPPER MOTORS
2). Define Grashofs criterion?.
The Grashof condition for a four-bar linkage states: If the sum of the shortest and longest link of
a planar quadrilateral linkage is less than or equal to the sum of the remaining two links, then
the shortest link can rotate fully with respect to a neighboring link.
3).
An acceleration which, when added to the acceleration of an object
relative to a rotating coordinate system and to its centripetal acceleration, gives the acceleration of the
object relative to a fixed coordinate system.

A vector which is equal in magnitude and opposite in direction to that of the first definition.



The DenavitHartenberg parameters (also called DH parameters) are the four parameters associated
with a particular convention for attaching reference frames to the links of a spatial kinematic chain, or
robot manipulator.




The term number synthesis has been coined
to mean the determination of the number and order of links and joints necessary to produce motion of a
particular DOF

A mechanism in which a body moves through a general spatial movement is called a spatial mechanism.
An example is the RSSR linkage, which can be viewed as a four-bar linkage in which the hinged joints of
the coupler link are replaced by rod ends, also called spherical joints or ball joints.






These defects include dyadic assembly error, locking defect, branching defect and the sequential
mismatch defect


June 2010

1) Distinguish Watts and Stephenson loop kinematic chairs.
Please refer Page no : 138 of Norton.
2) State advantage of Parllel Manipulators
A parallel manipulator is designed so that each chain is usually short, simple and can thus be rigid
against unwanted movement, compared to a serial manipulator. Errors in one chain's positioning are
averaged in conjunction with the others, rather than being cumulative. Each actuator must still move
within its own degree of freedom, as for a serial robot;
3) Sketch a geared Five bar mechanism and state its degree of freedom.
4). Distinguish Forward and inverse kinematics of robot manipulators.



4) Distinguish between Coupler curve and centrods
The centrodes are two curves which in rolling contact would produce the same motion as the
coupler.

6). State Bobilliers theorem and its use?
This method is found to be the most convenient construction of center of curvature of coupler point
of a given four bar linkage and vice versa.
7). Mention the hierarchy of synthesis in mechanisms design?