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.T'ech, ('Bighih Semester) Examiuation,'Apri!

Time

3 Hours

Subjectl Robotics , Branch : ilIechanical Engineerilrg

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iYote:: AII Assurn

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&Iin Pass Marks : 2g iiestions aie'compulsory. {Jse neat sketches,,to, supporf your answers. ble:data wherever n ecessary. (t 6)

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.1.rp-escribe __J four of the following: . _ any .ij /. ^v Er l vr ur! ruriu yy LtlEl. :: rent iypes ofjoints a'cl degre"es of freedom associated rvirh it. ?tft its advantag". u"nd aiuuA"^*rugjr. Y:,gr, y./ L tv uw btw Manipuiaror Allalo.rn}/, $lr.tic {vr.crrupul4t ui Anarom1,. (d).Dilference between fixed and fl \uU.trrcrence flexible autorhation,. four basi c ann co:ifi gurari o ns :' arrn characteristics,

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\J (a) pxplain ' 3{}:,t3!":1n{.h'-o part of rhe forrowing. tlie difference be_tween

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fixei angle and euler angle reFresentariofls; DfL n1r",ne1c1:s by, shoryjng ihe ,rcsnecrjve ibordinrle ]l-13t|.: "r rxes

r-fe) Derive the matlix by inverting a homo_q.rr"ori transformation matrix containing rota/on and translation .l.meritr. ., . .:.--',-:" Qu.J.jotv: lny rlvo part .--.@),r ErpiairL
ri

or the

ioiiowing:

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(b)

te r,.rni Drlgencr,a cy.

l+rt Ll

Generate tlie direcr

fr.eedorn as shown

f,jnenruti.s morlcl for the articuiate robot with six -' degrees oI in figulc, l.-ig3,

(c)

solutions.
Cnl.
S,2.,

Solve .rhe inverse kinematic moO.t ior the 4 DOF SCARA configuration ma'rpulator, Fig.3@. Discuss the conditions for exrstence axd multiplicity of '

(or)

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,A".1.,O:scribc any four of fhe follorvirrg: (a))actile Seniors L(5) Resol.iers {6)}esolvers pT )artea, increamentai encocler

(l 6)

ffii^t,;;;;.'

(e). .Proximiry sensors

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Linrar variable differential transformers

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(a) Joinr I of a six axis:iobor is to sojrym initiar ;= '70o in 5'secon{1. witti u fsie "*i*?"g .u.1o.ity=oi'"o, t' n::tto'r tirne"ror

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oiq,; rri-rhe finur.ungre of 0r 10" a degreesir**ho. Finci the,,: ]0 ut;"ar"i;o=q tu;;:;{n;rl,ilniu.rocities a d accsrerarions^ t: is desired .r n^,!]';, ."0;, *; uo;,;,i", final angle of 60" in 5 seconds' *i; " uti"e .lffi.r tJtrir-rial, carcuiate at 1' 2' 3 and 4 seconds. c;;;;,h; fre ioint angre

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cases.

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Fig.3.

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B.Tech. (Eighth Semester) Examination, April Subject: Robotics Branch: Mechanical Engineering

-May

CSVTU ME 12811 2012

Time: 3 Hours

*,"Hl,Tf"lH,'r'*

Note: All questions are compulsory. Use neat sketches to support your answers. Assume suitable data wherever necessary.
Qu.1. State with reasons whether they are correct or wrong for any eight of the following ' (8x2) stateme-nts. .nArobot must obey orders given by humans in all conditions-State the laws of robotics. t , *.: n"a effector is attached at the end of the arm of the robotic manipulator- draw the sketch /' of the robot 3natomy. c. In a2D space at object has two rotary and one transiation total 3 DOF - explain through

d. e.

f.

g. h.

d t.

DOF is equal to the number of links in a robotic manipulator * give reason. Cylindrical configuration of a 3DOF robotic arm has one R and two P joints - draw the configuration. Gantry configuratioq is an articulated configuration- draw both the configurations. Z axis is the approach vector in the end effectors coordinate frame - draw the coorciinate frame attached with end effector. Availability of less degrees of freedcm in a robotic manipulator is known as Redundancy - glve reason. An industrial robot is an automatic machine * define Industrial Robot. Use of robots are done to carry out difficult tasks only - explain 4D rule for application ofrobots.
(8,8)
'p\''
La

sketch.

Qu.2. Tabulate the D-II parameters for any two of the following robotic manipulator.
,ihl1
Face plaie

lot

a!la$it4 wmt

-+
P

\,,
Pitd'

:1

Fig.2(a)

rig.2(b)

Fig.2(c)

Qu.3. Derive the forward kinematics and inverse kinematics models for the robotic
manipulator, Fig.2(a).
(16)

v2

Qu.4. Solve the following: encoder in detail with diagram. -(a) Explain Rotary type of optical ten) of an appropriate sensor in detail. (b) Detail the characteristics (any

(8,8)

(or) from
a

_(c) Derive the expressions for principal strains and principal stresses ' . rectangular strain rosette. Also draw the Mohr's circle of strain.

three element

(4'12) Qu.5. Solve the following: La;' Explain the difference between Joint space and Cartesian space trajectory planning in brief. b- It is desired to have the first joint of a six axis robot go from initial angle of 30o to a final angle of 70o in 5 seconds with a cruising velocity of o = l0o/sec. Find the necessary time for blending and plot the joint positions, velocities and accelerations. Plot the curves for angles, velocity and acceleration of the joint.

(or)

c.

Determine and plot the time-history of the position. velocity and acceleration of the end effector of a 5 DOF manipulator, which moves from start to goal point via two intermediate points. Assume a cubic spline trajectory in each segment with continuity of velocity at the via points. The desired end effector motion is specified as following: End-Effector
I Position (rad) Velocitv(rad/sec)
Traverse time(sec)
0 0 0

Path Point
2
J

3nlZ

-nl2
n
5

2n
0
2

-trl2
J

2t2