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Code No: D1501

R09
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
M.Tech II - Semester Examinations, October 2011
ADVANCED MECHANICS
(MACHINE DESIGN)
Time: 3hours Max. Marks: 60
Answer any five questions
All questions carry equal marks
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1.a) What is mobility? Explain mobility criterion for spatial mechanisms.

b) Discuss the triangle rules and trigonometric identities using spherical trigonometry.
[12]

2.a) Explain the term Collineation axis and its use for finding inflection points.
b) Describe the Bobilliers construction to find the centre of curvature when instant
centre, Tracer point and the inflection point are known. [12]

3.a)
b)
State and explain Freudenstein’s Collineation axis theorem.

L D
Explain briefly the Hall’s and Aulf’s Auxiliary point method for the analysis of

4.
mechanisms.

O R [12]

What is Burmester’s Curve? Explain in detail how Burmester’s curve will be drawn
for a 4 – bar mechanism. [12]

5.a)
b)
W
Explain Overlay’s method of synthesizing a four -bar mechanism.
Design a four bar mechanism which is required such that the crank angles will be co-

U
ordinated as follows and also find the lengths of links?
θ degrees 700 300 0 0

6.a)

N T
φ degrees 750 450 20 [12]

What is path generation? Explain Robert’s theorem with a suitable example.

J
b) Synthesize a 4-bar mechanism for specified extreme value of the angular velocity of
driven link using method of components. [12]

7. a) Explain D-H notations. Derive the 4x4 D-H – transformation matrix.

b) Selecting the link parameter table, perform the direct Kinematic analysis of a
spherical robotic manipulator. [12]

8. a) Formulate the Jacobian matrix for planar serial manipulators

b) Derive the Jacobian matrix for the planar Robotic manipulator. [12]

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