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    This document appears to be an exam paper for a Machine Design course, containing 8 questions related to mechanisms and robotics. The questions cover a range of topics including mobility criteria, linkage synthesis, kinematic analysis techniques like Hartmann's construction and Freudenstein's equation, function generation using four-bar linkages, robotic manipulator kinematics using Denavit-Hartenberg parameters and Jacobian matrices. The document tests students' understanding of advanced mechanics concepts applied to machine design and robotic systems.

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    This document appears to be an exam paper for a Machine Design course, containing 8 questions related to mechanisms and robotics. The questions cover a range of topics including mobility criteria, linkage synthesis, kinematic analysis techniques like Hartmann's construction and Freudenstein's equation, function generation using four-bar linkages, robotic manipulator kinematics using Denavit-Hartenberg parameters and Jacobian matrices. The document tests students' understanding of advanced mechanics concepts applied to machine design and robotic systems.

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    © All Rights Reserved
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    56 views1 page

    Advanced Mechanics

    Uploaded by

    IbmWasuser
    This document appears to be an exam paper for a Machine Design course, containing 8 questions related to mechanisms and robotics. The questions cover a range of topics including mobility criteria, linkage synthesis, kinematic analysis techniques like Hartmann's construction and Freudenstein's equation, function generation using four-bar linkages, robotic manipulator kinematics using Denavit-Hartenberg parameters and Jacobian matrices. The document tests students' understanding of advanced mechanics concepts applied to machine design and robotic systems.

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    © All Rights Reserved
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    Code No: D1501
    JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
    M.Tech II SEMESTER EXAMINATIONS APRIL/MAY-2013
    ADVANCED MECHANICS
    (MACHINE DESIGN)
    Time: 3hours Max.Marks:60
    Answer any five questions
    All questions carry equal marks
    - - -

    1.a) Explain briefly about the mobility criterion for planar mechanisms with an
    examples.
    b) With the help of neat sketches describe the type of elements and joints of robotic
    manipulator.

    2.a) Explain the Hartmanns construction to find the inflection circle for a given
    mechanism.
    b) Describe the Bobilliers construction to find the center of curvature when instant
    center, Tracer point and the inflection point are known.

    3. Explain a method how to design a four bar mechanism by Guiding a body through
    three distant positions.

    4.a) State and explain Freudensteins Collineation axis theorem.
    b) Explain briefly the Halls and Aulfs Auxiliary point method for the analysis of
    mechanisms

    5.a) State and Explain Roberts theorem with a neat sketch.
    b) Design a four bar function generator for the following data:
    y = x
    0.8
    ; 1 x 4

    i
    = 30
    0

    i
    = 50
    0

    = 60
    0
    = 30
    0

    6.a) Prove the Frudensteins equation which synthesizes a four bar mechanism with
    usual terms and standard notation.
    b) Design a four bar mechanism which is required such that the crank angles will be
    co-ordinated as follows and also find the lengths of links.
    degrees 60
    0
    30
    0

    0
    0
    degrees 85
    0
    45
    0
    20
    0

    7. a) Explain D-H notations. Derive the 4x4 D-H transformation matrix.
    b) Selecting the link parameter table, perform the inverse kinematic analysis of a
    articulated robotic manipulator

    8.a) Write a short notes on differential kinematics.
    b) Derive the Jacobian matrix for the planar serial manipulator.

    ****
    R09
    www.jntuworld.com
    www.jntuworld.com
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