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Code No: 07A7EC07 R07 Set No. 2

IV B.Tech I Semester Examinations,December 2010
ROBOTICS
Common to Mechanical Engineering, Mechatronics
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. Define and explain about inverse homogeneous transformations. [16]

2. What is a compliant gripper? Why are compliant fingers used? [16]

3. (a) Explain the Robot application in palletizing and related operations.

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(b) Why Robots are useful in industries. [8+8]

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4. (a) Explain the REACT statement of Robot languages, which is used to monitor
an incoming signal and to respond to a change in the signal.

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(b) Discuss the important characteristics of robot - oriented language - motion
specification.

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5. Write and explain the arm matrix of SCARA robot.
[8+8]

[16]

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6. (a) What do you mean by linear stepper motor ? Explain.
(b) For an absolute optical encoder with 10 tracks, determine the value of the

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number of pulses per radian and the encoder constant. If the shaft angle of
the encoders were 0.73 rad, determine its output value: [8+8]

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7. Determine the Jacobian of the 3 DOF Euler wrist and also determine the singular-
ties of the wrist. [16]

8. (a) What is precision of movement of a robot? Explain the terms special resolu-
tion, accuracy and repeatability?
(b) A robot with single degree of freedom has one sliding joint with a full range of
1.0m. The robot’s control memory has a 12-bit storage capacity. Determine
the control resolution for this axis of motion. [8+8]

?????

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Code No: 07A7EC07 R07 Set No. 4

IV B.Tech I Semester Examinations,December 2010
ROBOTICS
Common to Mechanical Engineering, Mechatronics
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

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

2. Find the coordinates of point P(2, 3, 4)T relative to the reference frame after a
rotation of 450 about the x-axis. [16]
3. Using Lagrange - Euler formulation, derive the expression for the joint Torques or
forces of a planar RP Robotic manipulator.

L D [16]
4. For a three degree of freedom, cylindrical manipulator, design a linear trajectory


0 1 0
 1 0 0
200
100 




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with parabolic blends. The initial position of the end - effector is expressed by
homogenous matrix Ts and the goal position by Tg as:
1 0 0 - 50
 0 - 1 0 200 



[16]

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Ts =  0 0 - 1 - 100  T g =  0 0 0 400 
0 0 0 1 0 0 0 1

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5. (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

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with respect to usage in robotic systems.
6. (a) Explain the basic definition and operation of mechanical grippers.
(b) Explain the vacuum cups of grippers.
[8+8]

[8+8]
7. A dc tachometer is to be used as the velocity feedback device on a certain twisting
joint. The joint actuator is capable of driving the joint at a maximum velocity of
0.75 rad/sec and the tachometer constant is 8 V/rad/sec.
(a) What is the maximum output voltage that can be generated by the device,
if the tachometer is geared with the joint so that it rotates with twice the
angular velocity of the joint?
(b) If the joint rotates at a speed of 250 /sec, determine the output voltage of dc
tachometer. [8+8]
8. (a) Explain the application of industrial Robots in stamping - press operation.
(b) What are the requirements of the Robot for spray painting applications? Ex-
plain. [8+8]

?????

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Code No: 07A7EC07 R07 Set No. 1

IV B.Tech I Semester Examinations,December 2010
ROBOTICS
Common to Mechanical Engineering, Mechatronics
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Explain the three types of power used by robots.

(b) What problems may be encountered by a robot that uses a vehicle? [9+7]

2. Show that the rotation matrices about the y-axis and z-axis are unitary. [16]

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3. Assign coordinate frames for an articulated robot arm (3-axis) using D-H conven-
tion. [16]

characteristics.

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4. (a) Compare stepper motor with an AC servomotor in respect of torque and speed

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(b) Define the following with respect to a stepper motor:
i. Step angle
ii. Holding torque
iii. Detent torque.

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5. (a) Define the following terms of trajectory planning
i. Trajectory
ii.
iii.
iv.
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Spline

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Joint space scheme
operational ( or cartesian ) space scheme.
(b) Explain the following three steps of trajectory planning
i. Task Description
ii. Selecting and Employing a trajectory planning
iii. Computing the trajectory. [8+8]

6. Determine Jacobian, Singularties and Joint velocities for a 3 DOF planar area with
the revolute joints. [16]

7. A dc servometer is used actuate a robot joint. It has a torque constant of 1.25

N.m/A, and a voltage constant of 12 V/kr/min (1 kr/min = 1000 r/min). The
armature resistance = 2.5 Ω. At a particular moment during the robot cycle, the
joint is not moving and a voltage of 25 V is applied to the motor.

(a) Determine the torque of the motor immediately after the voltage is applied.
(b) As the motor accelerates, the effect of back - emf is to reduce the torque.
Determine the back - emf and the corresponding torque of the motor at 250
and 500 r/min. [8+8]

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Code No: 07A7EC07 R07 Set No. 1

8. (a) Discuss the application of Robots in plastic molding operation.
(b) Explain the benefits of Robot spray painting? [8+8]

?????

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U W
N T
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Code No: 07A7EC07 R07 Set No. 3

IV B.Tech I Semester Examinations,December 2010
ROBOTICS
Common to Mechanical Engineering, Mechatronics
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) What are the different types of actuators used for robots? What are the
advantages and disadvantages of each?
(b) Distinguish between servo and non-servo robots. What is the hierarchy of
control for servo robots? [8+8]

2. (a) What do you mean by Interlocks?

(b) Explain the WAIT, SIGNAL and DELAY commands.

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

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(b) Discuss the robot application in pick - and - place operations.

4. Determine the Jacobian of the 2 DOF arm shown in figure 4 and determine the
[8+8]

singularties of the arm.

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Figure 4
5. Draw and explain the Composite homogeneous transformation algorithm. [16]

6. A stepper motor is to be used to actuate one joint of a robot arm in a light duty
pick - and - place application. The step angle of the motor is 100 . For each pulse
received from the pulse train source, the motor rotates through a distance of one
step angle.

(a) What is the resolution of the stepper motor ?

(b) Relate this value to the definitions of control resolution, spatial resolution and
accuracy. [4+12]

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Code No: 07A7EC07 R07 Set No. 3

7. (a) A piston is to be designed to exert an actuation force of 120lb on its extension
stroke. The inside diameter of the piston is 2.0in. and the ram diameter is
0.375in. What shop air pressure will be required to provide this actuation
force? Use a safety factor of 1.3 in your computations.
(b) A vacuum pump to be used in a robot vacuum gripper application is capable of
drawing a negative pressure of 4.0 lb/sq.in. compared to atmospheric pressure.
The gripper is to be used for lifting stainless steel plates, each plate having
dimensions of 15×35 in. and weighing 52lb. Determine the diameter of the
suction cups to be used for the robot gripper if it has been decided that two
suction cups will be used for the gripper for greater stability. A factor of safety
of 1.5 should be used in the design computations. [8+8]

8. For the four-degree-of-freedom robot depicted shown in figure 8.

(a) Assign the coordinate frames based on D-H representation.

(b) Fill out the parameters table.
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lated.

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(c) Write an equation in terms of A matrices that shows how U TH can be calcu-
[4+4+8]

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Figure 8

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