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