Code No: L0306/R05 Set No.

1
IV B.Tech II Semester Supplementary Examinations, July 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) What is the difference between standard servo and feed forward servo?
(b) What is error in the control loop and how can it be eliminated? [8+8]

2. (a) Explain the various types of end effectors.

(b) Explain the various types of gripper mechanisms. [8+8]

3. For the manipulator shown in figure 3, the end-of-the-arm is positioned at the

point defined by x=16.0in, y=5.0 in, and z=21.0in. If the pitch angle ψ=450 and
the link 4 is 2.0in. Long, the length of the link 1 is 12.0 in, determine the position
of joint 4, defined as point P4. Also, determine the values of the other manipulator
parameters, length L and angles θ and Φ. [16]

Figure 3
4. Write and explain the arm matrix of SCARA robot. [16]

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Code No: L0306/R05 Set No. 1
5. Using Norton - Euler forward recursive equations, determine the angular velocities,
angular accelerations, linear accelerations of the joint and the linear acceleration
at the center of mass of links of a planar RR Manipulator. [16]

6. (a) What do you mean by robot language operating system? Explain.

(b) What are the three basic modes of operation of a robot language operating
system? Explain. [6+10]

7. (a) Discuss about Resolvers.

(b) What is the velocity of the piston and the force generated by the piston in
a Hydraulic actuator, if the fluid pressure is 20 Mpa inside the cylinder, the
piston is 40 mm in diameter and the flow rate is 3 cm3 /sec. [8+8]

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

(b) Discuss the robot application in pick - and - place operations. [8+8]

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Code No: L0306/R05 Set No. 2
IV B.Tech II Semester Supplementary Examinations, July 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) “Introduction of robot will normally lead to saving”. Defend this statement
with your answer.
(b) Discuss the economic analysis as applied to industrial robots. [8+8]
2. Sketch and explain a robot gripper with
(a) Self-aligning finger
(b) Form dependent finger. [8+8]
3. Define and explain about inverse homogeneous transformations. [16]
4. (a) Explain about the forward kinematics.
(b) Explain about the inverse kinematics. [8+8]
5. For a 3 DOF manipulator 
arm, the link
 transformation matrices
 are
 : 
C1 - S1 0 C1 C2 0 - S2 C 2 1 0 0 0
 S1 C1 0 S1   S2 0 C2 S2   0 1 0 0 
0T1 =   1 =  2T 3 = 
1 0  T2  0 1

 0 0 0 0   0 0 1 d3 
0 0 0 1 0 0 0 1 0 0 0 1
Determine the Jacobian of the manipulator to express the Cartesian Velocities in
terms of joint velocities. [16]
6. (a) Discuss about cubic polynomial trajectories.
(b) A single cubic trajectory given by q(t) = 30 + t2 - 6t3 is used for a period of
3 seconds. Determine starting and goal position, velocity and acceleration of
the end - effector. [6+10]
7. (a) A stepper motor has four poles on the stator and five slot - like poles on either
side of the rotor. What is the smallest step that can be made?
(b) How is the direction of rotation tracked when a simple incremental optical
encoder is used to transduce rotation? Give the block diagram and explain
the salient points with timing diagrams. [8+8]
8. (a) What are the technical considerations of of industrial Robots in Arc welding?
Explain.
(b) What type of sensors are used in Robotic Arc welding? Explain. [8+8]

?????

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Code No: L0306/R05 Set No. 3
IV B.Tech II Semester Supplementary Examinations, July 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) Describe the various mechanical design considerations of robot.

(b) Describe three reasons for using a robot instead of a human being for a task.
[8+8]
2. (a) What does the term compliance mean? Explain.
(b) Describe the two methods used to achieve compliance. [8+8]
3. Draw and explain the Composite homogeneous transformation algorithm. [16]
4. Given the world coordinates for the TRR:R robot in figure 4 as x=200mm, y=300,
z=500mm, and α=150 ; and given that the links have values L0 =0, L1 =500mm, and
λ3 has a range from300mm to 550mm and L4 =25mm, determine the joint values
θ1 , θ2 , λ3 and θ4 . [16]

Figure 4
5. Using Lagrange - Euler formulation, derive the expression for the joint Torques or
forces of a planar RP Robotic manipulator. [16]
6. (a) What do you mean by branching in robot programming? What are the branch
capabilities? Explain.

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Code No: L0306/R05 Set No. 3
(b) Using the 8 × 8 grid, show the path taken by a cartesian robot if it is directed
to move between point ( 1, 1 ) and point ( 6, 6 ) using joint interpolation.
[10+6]

7. (a) A resolver is to indicate angular position at a rotational wrist joint. The

excitation voltage to the resolver is 24 V. The resolver is connected to the
wrist joint so that a given rotation of the output link corresponds to an equal
rotation of the resolver. At a certain moment in time, the movement of the
wrist joint results in voltage across the two pairs of stator terminals to be 10
V and -21.82 V. Determine the angle of the rotational joint.
(b) What is the resolution of an absolute optical encoder that has twelve tracks?
[12+4]

8. (a) What are the capabilities and features of Robots in spot welding? Explain.
(b) Discuss the problems for robots in arc welding. [8+8]

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Code No: L0306/R05 Set No. 4
IV B.Tech II Semester Supplementary Examinations, July 2010
ROBOTICS
(Mechanical Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
?????

1. (a) How do you select robots for each of the following operations:
i. Assembly/Inspection
ii. Welding
iii. Machine loading.
(b) What is meant by robot cell? Explain. [9+7]

2. Sketch and explain a robot gripper with

(a) Self-aligning finger

(b) Form dependent finger. [8+8]

3. Explain the arm equation of Microbot Alpha II. [16]

4. (a) Explain about the D-H notation joint coordinate system.

(b) Explain about the world coordinate system. [8+8]

5. What do you mean by Jacobian? Derive the Jacobian matrix for a planar 2 link
revolute jointed manipulator. [16]

6. (a) Explain the cubic polynomial fit of joint space scheme.

(b) Let the initial position of a joint is 150 and final position is 750 . The duration
to reach final position is 3 seconds. Design the joint trajectory considering the
cubic polynomial fit. [6+10]

7. 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]

8. (a) Discuss the features of Robots in Arc welding.

(b) Discuss the use of industrial Robots in Die - casting operation. [8+8]

?????

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