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Code No: 9A03702/R09
B.Tech. IV Year I Semester Supplementary Examinations
May - 2013
R09
Solutions
AUTOMATION AND ROBOTICS
( Mechanical Engineering )
Time: 3 Hours Max. Marks: 70
Answer any FIVE Questions
All Questions carry equal marks
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1. List out and discuss about the basic elements of an automated system. (Unit-I, Topic No. 1.1)
2. List out the various types of flow lines. Discuss flow line with and without buffer storage. (Unit-II, Topic No. 2.2)
3. What are the considerations to be made in assembly line design? (Unit-III, Topic No. 3.1)
4. Explain various configurations of robot with neat sketches. (Unit-IV, Topic No. 4.1)
5. Explain in detail about DH representation of robot with a suitable example. (Unit-V, Topic No. 5.1)
7. (a) Classify different sensors and actuators used in robotics. (Unit-VII, Topic No. 7.1.1)
(b) Discuss the working of following actuators,
(i) Pneumatic actuators
(ii) Hydraulic actuators. (Unit-VII, Topic No. 7.1)
8. (a) What are the desirable features of a robot for successful machine tool load/unload applications?
(Unit-VIII, Topic No. 8.1)
(b) Describe the applications of a robot in press working operation. (Unit-VIII, Topic No. 8.1)
Storing buffers between stations is included for the For answer refer Unit-V, Q2 and Q4.
following factors, Q6. Discuss the following methods of robot
programming.
(i) Gathering of different products from different stages
when production rates between two stages of the (i) Lead through teaching
line fluctuate. (ii) Walk through teaching
(ii) For smooth production between stations having (iii) Off-line programming.
large task time variations.
Answer : May-13, (R09), Q6
(iii) For a continuous operation of the production line (i) Lead Through Teaching
when other sections are temporarily down for service
For answer refer Unit-VI, Q16, Topic: Lead Through
or repair.
Methods.
(iv) To improve the performance of the line operation by (a) Powered Lead Through
increasing the line efficiency.
Powered lead through is the common programming
10. Zoning and other Constraints method for playback robots with point to point
control. In this method various joint motors having
Zoning constraints limit the grouping of work
toggle switches or contact buttons controlling the
elements and their distribution to work stations. Zoning movement of the manipulator joints are controlled by
constraints may be positive or negative, a hand held control box.
(i) A positive zoning constraint is the grouping of The toggle switches are used by the programmer for
elements together at same work station. driving the robot arm to the desired positions in se-
quential order. These positions are recorded into the
Example: Spray painting elements are grouped memory.
together as they require special enclosures.
During the next play back, the robot moves by the
(ii) A negative zoning constraint is the separation of sequence of positions with its own power.
work elements located near each other such that they (b) Manual Lead Through
do not interfere with each other
Manual lead through method is suitable for a continu-
Example: A work element with delicate adjustments ous path programming where the continuous path is
is located away from an assembly operation with loud an irregular motion pattern such as in spray painting.
sudden noises and hammering vibrations. In this method, the programmer physically grasps
A position constraint is another limitation for the the tools attached to the arm and manually moves it
distribution of work to stations. It is executed in the assembly through the motion sequence. This arm movement is
recorded into the memory. The robot arm possesses
of large components such as in trucks and automobiles.
large mass and it is physically difficult to move,
Since the task becomes difficult for the workers to therefore the actual robot is replaced by a special
operate on both sides of the work, therefore operators are programming device for the teach procedure. The
positioned on either sides of an assembly line for easy programming device has the same geometry as the
handling of work. robot. The programming device has a provision for a
trigger handle or other control switch which are
Q4. Explain various configurations of robot with activated when the motions are to be recorded into
neat sketches. memory by the operator. The motions are recorded in
a sequence of closely spaced points. Through the
Answer : May-13, (R09), Q4
same sequence of points, the path during the playback
For answer refer Unit-IV, Q2. is recreated by controlling the actual robot arm.
Operator
Production area
Pressure gauge
Actuator Tank
Primary
filter
Air
Piston rod
Piston
Figure (2): Cylinder Type Actuator
( JNTU-Anantapur) B.Tech. IV-Year I-Sem.
QP.6 Spectrum ALL-IN-ONE Journal for Engineering Students, 2013
The empirical relations which help in deciding the type of actuator are,
1. Actuator velocity in terms of input power,
f
V=
A
Where,
V = Velocity of fluid
f = Flow rate of fluid.
2. Force in terms of input power,
p
F=
A
Where,
p = Fluid pressure
A = Area of piston.
The above empirical relations can be used to predict the payload carried by the robot at a given speed.
(ii) Hydraulic Actuators
For answer refer Unit-VII, Q2.
Q8. (a) What are the desirable features of a robot for successful machine tool load/unload
applications?
Answer : May-13, (R09), Q8(a)
For answer refer Unit-VIII, Q3.
(b) Describe the applications of a robot in press working operation.
Answer : May-13, (R09), Q8(b)
For answer refer Unit-VIII, Q10.