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III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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3. Explain the variable structure systems for the control of manipulators. [16]
4. Draw the block diagram of hydraulic motor with servo valve and distributor and
explain the procedure. [16]
5. Determine the dynamic equations for the two-link manipulator shown in Figure 5,
when each link is modeled as a rectangular solid of uniform density. Each link has
dimensions ai , bi and hi and total mass mi . [16]
Figure 5
6. (a) Obtain the D-H link parameters for the manipulator shown in figure 6a
Figure 6a
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Code No: R05321302 Set No. 1
(b) Obtain the D-H parameters for the two-link arm shown in in figure 6b [8+8]
Figure 6b
7. (a) Explain Lead through programming methods.
(b) Explain different methods of Robot programming. [8+8]
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Code No: R05321302 Set No. 2
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆
1. (a) Explain with neat sketches the components used for rotary-to-rotary motion
conversion in industrial robots.
(b) Give the classifications of industrial robots based on their coordinate system.
[10+6]
2. What do you mean by tactical sensing? Discuss about touch type and force type
tactile sensors. [16]
3. What are the components of the PUMA robot arm controller? Explain the func-
tions of the controller? [16]
4. Discuss about the physical support of the End Effector of robot/End Effector In-
terface. [16]
5. Determine the dynamic equations for the two-link manipulator shown in Figure 5.
Assume that the whole mass of the link can be considered as a point mass located
at the outermost end of each link. The masses are m1 and m2 and the link lengths
are a1 and a2 . [16]
Figure 5
6. (a) Show that a rotation matrix is an orthogonal matrix.
(b) Verify that a rotation matrix Rk that describes the elementary rotation θ
about an axis k follows the property, Rk (-θ) = Rk (θ).
(c) Find the rotation matrix corresponding to the set of Euler angles ZYX [6+4+6]
7. (a) What are the capabilities and limitations of lead through programming meth-
ods?
(b) Explain the features and capabilities of the second-generation languages. [8+8]
8. (a) Describe the mobile robot work cell layout?
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Code No: R05321302 Set No. 2
(b) Discuss the different ways in which the interference can take place among the
different pieces of equipment in a robot work cell? [8+8]
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Code No: R05321302 Set No. 3
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆
Figure 6b
7. (a) A single link robot with a rotary joint is motionless at θ= - 5 degrees. It
is required to move the joint in a smooth manner to θ = 80 degrees in 2
seconds and stop smoothly. Compute the parameters of a linear trajectory
with parabolic blends.
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Code No: R05321302 Set No. 3
(b) Differentiate between the robot-level languages and the task-level languages?
[10+6]
8. (a) How a welding robot can overcome the problem of variations in the components
that are to be welded?
(b) What are the technical and economic problems encountered in applying robots
to arc welding? [8+8]
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Code No: R05321302 Set No. 4
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS AND AUTOMATION
(Electronics & Control Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆
1. (a) Explain about the Cylindrical coordinate robot with a neat sketch. Discuss
the relative merits and demerits of Cylindrical coordinate robots. Name any
two industrial robots having this geometric structure.
(b) What do you mean by work volume? Discuss the work volumes of various
robot anatomies with neat sketches. [8+8]
3. What are the main functions of the 6503 microprocessor of PUMA robot arm?
Explain. [16]
4. Discuss the power and signal transmission of the End Effector of the robot/End
Effector Interface. [16]
Figure 5
6. (a) Find the transformation matrices for the following operations on the point
4î + 9ĵ − 3k̂
i. Rotate 60o about x-axis and then translate -3 units along y-axis.
ii. Translate 6 units along y-axis and rotate 45o about x-axis.
(b) Obtain the D-H link parameters for the manipulator shown in Figure 6b. [8+8]
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Code No: R05321302 Set No. 4
Figure 6b
7. (a) Explain Lead through programming methods.
(b) Explain different methods of Robot programming. [8+8]
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