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Code: 9D15102 M. Tech I Semester Regular & Supplementary Examinations, April/May 2013 ADVANCED MECHANISMS (Machine Design) Time: 3 hours Max. Marks: 60 Answer any FIVE questions. All questions carry equal marks. ***** 1 (a) (b) Define the terms: Link, kinematic pair, mechanism and machine. Explain the kutzback mobility criterion for the planar mechanism and special mechanism with example. Define Collineastion axis. Use the Hartmann construction to determine the centre of curvature of the coupler curve of the point E of the four bar mechanism shown in figure 2. The dimensions are AD=AB=60 mm, BC=BD=25 mm, AD is the fixed link and E is the midpoint of BC. B
E

(a) (b)

3 (a) (b) 4 (a) (b)

Explain the following: The circling-point curve for the coupler of a four-bar mechanism. Freudensteins collineation-axis theorem. Define Burmesters curve. Synthesize a four bar mechanism to guide a rod AB through three consecutive positions A1B1, A2B2 and A3B3 as shown in figure 3. Y 40 A1 (2,32) 30 (18,32) A2 20 10
(21,21) A3 B1 (30,35)

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Figure 2

B2 (42,25)

B3 (46,16)

10 20

30

40

X 50 Figure 3 Contd. in page 2 Page 1 of 2

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Code: 9D15102 5 Using relative rotocenter method, design a four bar mechanism, by using three precision points, to generate the function y=x0.8 for the range 1 x 3. Assuming 50 starting position (and 140 finishing position for the input link and 40 starting position and 110 finishing position for the output link, find the values of x,y, (input angle) and (output angle) corresponding to the three precision points. Design a four bar mechanism to coordinate three positions of the input link with three positions of the coupler point, the data which is given below.

Assume the values of 7 (a) (b) (c) (d) 8

and

as 20 , 10 and 150 respectively.

Explain the following robot manipulators: PUMA. SCARA. STANFORD ARM. MICROBOT.

What do you know about the differential kinematics formulation of Jacobian for planar serial manipulator?

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