[o ttgsd

Gode:ME

t3 6 tL

B.Tech. (Eighth Semester) Examination, April - May 2013 Subiect Robotics Branch: Mechanical Engineering Max Marks :80 Time: Three hourc Min. Pass Marks :28 Note: All questions are compulsory. use neat sketches to support your answers. Assume suitable data wherever necessary'

Qu.{. Write short notes on any four of the following:

(4,4,4,41

(i) (ii) (iii) (iv) W

SCARA configuration. Hydraulic Actuator, its advantages and disadvantages. Human Arm characteristics Precision and repeatability - robot characteristics ldentify the years with reasons, in view of the Progressive Advancement of Robotic science and its application 1941n {954, 1966, 1969, 1978' 1993, 1997,2000.

(8,8) Qu. 2. Solve any two of the A point P(7,3,2)r is attached to a frame(n,o,a) and is subjected to the transformations. Find and plot the coordinates of the point relative to the reference frame at the end of the transformations' a. Rotation of 90" about the z axis. b. Followed by a rotation of 90o about the y axis' c. Followed by a translation of [ 4' -3' 71. 0o} = matrix and prove that Rxvz('r'

(i)

following:

\YT;:i:?,;::r{ansrormation

'zn

(iii) (i) (ii)

Tabulate the DH parameters showing the different coordinate axes symbols for the various joints of the robotic manipulator shown in Fig. 2.

,g;of(g , Qu.3. solve any one part of the Derive the fonrard kinematic model for lhe.prtra Robotic manipulator, Fig.3(a). Delermine the ioint angles for the 4dof SCARA, Fig'3(b).

following:

S{4db*""\

6)

$,121 Qu.4. Solvg the following: gs (dR/R)le alloy, =1+ = ^, a,,Mrive the expression for sensitivity of the metallic p+
^

Vzv

* (Apipy

a,

where p is the specifib resistance.

a

b. cjbsdn;aiions

rectangular rosette mounted on a steel specimen. Determine the principal strains, the principal stresses and the principal angls 9t, 92' Draw the Mohr's circle of strains for the case. Assume E = 210 GPa, poisson's ratio =
0.3.
U3

= 500 pm/m,

= -300 pm/m, t" = 0, are made with a

sx** *E{d4

{il}
&.t
L*r

''-'-***' ---l

fu:$ li{ l'" ..'. t|

.,
:

-f,t Ir

.r*L*ttc4

trrd'

e6+, $#

Stg

u)

"

r'\
0.

0 l*crl o I sl ir, *"Tr lr *r t} t*srl {': ,s [,r, ur,ra,r*!| lg o gl 'Y,r&t*iri b,{orr-l;;;;t ,ir o"I ? Tij:'I l"tt os tJ , , L* n $ I J A; ; t il

lc'

*.&

fl I-'f' I

4)
6-r*

[-4r* $,;l* t] Irfia + &rcol rq *${ ,, {) *fio $ ]*.s-, * t,#* [$*o 'r-ae*r*i??T;orn = ! it s *t t*244,-I"l

to o & i
4

# $ La :

{'

'J

Crzl denotes cos(01 + 0z Srz denotes sin(01 + 0z).

0a), Srz.r denotes sin (01

0z

- 0n), Crz denotes cos(01 + 0z),

\---_

Fig.3(b)

ARA Manipulator and individual transformation matrices DoF scA

r"-'' ---JarlrrlS
ffiu+rr1

\,.-;g*:***
-ielhtE"*i
,

/'

..

atd{ffiwist

Faoa

Sab

For

{*tru+iMtr*","
I
l

: isnlrpdilt

,\y'-

.""--Jelid t r:'rr{$kkt}

R'o=

J/J

of O( 5. Solve any one \Y'-'i,)-"the 6"i"irinl trajectory equalions and plottheposition, velocity and
.

part

the following:

accelerationcurvesforthejointusinga4.3.4traiectory.Thedifferent
conditions for the joint are given as following: gr = 30o, 0't = do, 0"1 = 0o, T1i = 0, T1f = 2, Tx= 4, gz = 50o, T2i = 0, T$= 2, 0s = 90o, T3i = 0, go = ZO", 0'+ = 0o , 0"4 = 0o'

,@@
(ii)

is to move from End effector of a 3 dof articulated robot arm, -Fig-5(b), of the three point (9,0,10) to a'poini(3,5,8).along a straight line'.Find the angles joints for each inteimediate points 1iO minimum) using Cartesian space method and plot the results'

&s{*dhrts
iln&-*:m{i* $

"'--* 'u.

:-\-

Jeg**riit

,' ,-'

..'

f\lrt
di-i

"'lM&*'fi

i*-.-*.t"*

d:s'

t
,

J0k**
fid*

I
;

&1
t t ! I

tI

Fig. 3(a) Stanford ManiPulator

213