Code No: L0306/R05 Set No.

1
IV B.Tech II Semester Regular Examinations, April 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Define a robot and state the laws of robotics.

(b) Compare the various attributes of robot with those of human being. [8+8]

2. How is a robot end-effector specified? Explain in detail. [16]

3. Draw and explain with an example the Composite rotations algorithm. [16]

4. Discuss the importance of Denavit-Hartenberg (D-H) algorithm for robot kinemat-

ics. [16]

5. (a) Discuss about the Jacobians in the force domain.

(b) Explain the determination of Jacobians with respect to frames attached to
different links, when the Jacobian with respect to base frame is given. [8+8]

6. (a) Discuss the Cartesian space techniques.

(b) The motion of a joint from start to goal position is specified in terms of po-
sition, velocity and acceleration at the beginning and end of a path segment.
Determine the coefficients of the optimistic (fifth- degree) polynomial for in-
terpolating the smooth trajectory in the segment. [6+10]

7. A stepper stone motor is to be used to drive each of the three linear axes of a
cartesian coordinate Robot. The motor output shaft will be connected to a screw
thread with a screw pitch of 3 mm. It is desired that the control resolution of each
of the axes be 0.6 mm.

(a) To achieve this control resolution, how many step angles are required on the
stepper motor?
(b) What is the corresponding step angle?
(c) Determine the pulse rate that will be required to drive a given joint at a
velocity of 7.5 cm/sec. [4+4+8]

8. (a) What are the features of Robots in Arc welding? Explain.

(b) What are the benefits of Robot spray painting? Explain. [8+8]

?????

Please purchase PDF Split-Merge on www.verypdf.com1 to

of remove
1 this watermark.
 Code No: L0306/R05 Set No. 2
IV B.Tech II Semester Regular Examinations, April 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Discuss the history of robotics.

(b) Discuss the present and future applications of industrial robots. [8+8]

2. (a) A part weighing 8lb is to be held by a gripper using friction against two
opposing fingers. The coefficient of friction between the fingers and the part
surface is estimated to be 0.3. The orientation of the gripper will be such that
the weight of the part will be applied in a direction parallel to the contacting
finger surfaces. A fast work cycle is anticipated so that the ‘g’ factor to be
used in force calculations should be 3.0 Compute the required gripper force
for the specifications given.
(b) A vacuum gripper is to be designed to handle flat plate glass in an automobile
wind shield plant. Each plate weighs 28lb. A single section cup will be used
and the diameter of the suction cup is 60in. Determine the negative pressure
required (compared to atmospheric pressure of 14.7 lb/sq.in) to lift each plate.
Use a safety factor of 1.5 in your computation. [8+8]

3. (a) Explain the kinematic equations using homogeneous transformations.

(b) Explain the homogeneous transformations as applicable to rotation. [8+8]

4. A cartesian coordinate robot of configuration LLL is to move its three axes from
position (x, y, z) = (0, 5, 5) to position (x, y, z) = (20,35, 15). All distance measures
are given in inches. The maximum velocities for the three joints are, respectively,
20 in./sec, 15 in./sec, and 10 in./sec. Assume that the rate of acceleration and
deceleration is known to be 30 in./sec/sec for each of the three linear joints.

(a) Determine the time required to move each joint if skew motion is used.
(b) Determine the time required to move the arm to the new position and the
velocity of each joint, if joint-interpolated motion is used. [8+8]

5. What do you mean by Jacobian? Derive the Jacobian matrix for a planar 2 link
revolute jointed manipulator. [16]

6. (a) Discuss the SPEED control commands of Robot languages.

(b) Discuss the characteristics of Robot level languages. [8+8]

7. (a) A resolver is to indicate angular position at a rotational wrist joint. The

excitation voltage to the resolver is 24 V. The resolver is connected to the
wrist joint so that a given rotation of the output link corresponds to an equal

Please purchase PDF Split-Merge on www.verypdf.com1 to

of remove
2 this watermark.
 Code No: L0306/R05 Set No. 2
rotation of the resolver. At a certain moment in time, the movement of the
wrist joint results in voltage across the two pairs of stator terminals to be 10
V and -21.82 V. Determine the angle of the rotational joint.
(b) What is the resolution of an absolute optical encoder that has twelve tracks?
[12+4]

8. (a) What are the Advantages and Benefits of Robot Arc welding? Explain.
(b) What are the requirements of the Robot for spray painting applications? [8+8]

?????

Please purchase PDF Split-Merge on www.verypdf.com2 to

of remove
2 this watermark.
 Code No: L0306/R05 Set No. 3
IV B.Tech II Semester Regular Examinations, April 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Compare stepper motor and D.C motor drives for a robot.
(b) State some advantages of hydraulic power compared with D.C electrical servos
with respect to usage in robotic systems. [8+8]

2. Describe a robot gripper to take measurements of outer and inner dimensions of

objects with the aid of pneumatic gauging. [16]

3. (a) Consider the manipulator shown in figure 3a. Suppose the links and joints
of the manipulator had the following settings: Length of the link L1=10.0in,
length of the extension link L=15.0in, length of link4, L4=3.0in, Base angle
θ=00 , Elevation angle Φ=200 , pitch angle ϕ=340 . Determine the coordinates
of the resulting point P at which the end-of-arm would be located. [8+8]

Figure 3a
(b) In the above problem, determine the x,y, and z coordinates of joint 4.

4. State the important steps in Denavit-Hartenberg (D-H) convention. [16]

Please purchase PDF Split-Merge on www.verypdf.com1 to

of remove
2 this watermark.
 Code No: L0306/R05 Set No. 3
5. Using Norton - Euler backward recursive equations, determine the joint torques of
planar RR robotic manipulator. [16]

6. (a) Explain Branching in robot programs by considering palletizing operation.

(b) Using the 8 × 8 grid of a robot with one rotational axis and one linear axis,
show the path taken by the robot if it is directed to move between point ( 2,
1 ) and point ( 8, 2 ) in the grid using linear interpolation. [8+8]

7. (a) Compare the Hydraulic and Electrical drives.

(b) What is the velocity of the piston and the force generated by the piston in
a hydraulic actuator if the fluid pressure is 12 Mpa inside the cylinder, the
piston is 50 mm in diameter and the flow rate is 2.5 cm3 /sec. [8+8]

8. (a) What are the general considerations in robot material handling?

(b) Discuss the robot application in pick - and - place operations. [8+8]

?????

Please purchase PDF Split-Merge on www.verypdf.com2 to

of remove
2 this watermark.
 Code No: L0306/R05 Set No. 4
IV B.Tech II Semester Regular Examinations, April 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Explain the difference between hard automation, flexible automation and ro-
botics.
(b) What is meant by the statement “an industrial robot does not work by itself”?
Discuss. [8+8]
2. (a) Explain the basic definition and operation of mechanical grippers.
(b) Explain the vacuum cups of grippers. [8+8]
3. Consider the forward transformation of the two-joint manipulator shown in figure
3. Given that the length of joint 1, L1=12in, the length of joint 2, L2=10in., the
angle θ1=300 and the angle θ2=450 , compute the coordinate position (x and y
coordinates) for the end-of-the-arm Pw. [16]

Figure 3
4. A jointed-arm robot of configuration VVR is to move all three axes so that the first
joint is rotated through 500 , the second joint is rotated through 900 and the third
joint is rotated through 250 . Maximum speed of any of these rotational joints is
100 /s. Ignore effects of acceleration and deceleration.
(a) Determine the time required to move each joint if skew motion is used.

Please purchase PDF Split-Merge on www.verypdf.com1 to

of remove
2 this watermark.
 Code No: L0306/R05 Set No. 4
(b) Determine the time required to move the arm to the desired position and the
rotational velocity of each joint, if joint-interpolated motion is used. [8+8]

5. For a planar RR manipulator, derive the Jacobian matrix and find the Singularties.
[16]

6. The end effector of two link planar manipulator with each link 1 m long, is to move
from initial position (xg , yg ) = (-1.6 , 0.5). Determine the coefficients of cubic
polynomials for each joint to generate a smooth trajectory. [16]

7. A stepper stone motor is to be used to drive each of the three linear axes of a
cartesian coordinate Robot. The motor output shaft will be connected to a screw
thread with a screw pitch of 3 mm. It is desired that the control resolution of each
of the axes be 0.6 mm.

(a) To achieve this control resolution, how many step angles are required on the
stepper motor?
(b) What is the corresponding step angle?
(c) Determine the pulse rate that will be required to drive a given joint at a
velocity of 7.5 cm/sec. [4+4+8]

8. (a) What are the capabilities and features of Robots in spot welding? Explain.
(b) Discuss the problems for robots in arc welding. [8+8]

?????

Please purchase PDF Split-Merge on www.verypdf.com2 to

of remove
2 this watermark.