IV B.Tech I Semester Supplimentary Examinations, May/Jun 2009 ROBOTICS ( Common to Mechanical Engineering, Mechatronics and Production Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ?????
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1. Discuss in detail about the advantages of Robotics over other form of Automation in manufacturing industry. [16]
2. What is point-to-point control in a robot? What is continuous path motions? Which method of motion control would be the best for spray painters by the robot? Justify your answer. [16]
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3. The diagram in figure 3. shows the linkage mechanism and dimensions of a gripper used to handle a workpart for a machining operation. Suppose it has been determined that the gripper force is to be 125 N. What actuating force is required to deliver this force of 125 N. [16]
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4. (a) Find the rotation matrix correspondent to the set of Euler angles ZXZ.
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(b) What do you mean by equivalent angle and axis? Explain.
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5. Consider the three-link articulated robot of figure 5. Derive the forward kinematic equations using the DH-convention. [16]
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Code No: NR410308
Figure 5
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6. (a) What is the meaning of the generalized coordinates of for a robot arm ?
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(b) Give two different sets of generalized co ordinates for the robot arm shown in figure6b [10]
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Figure 6b
7. A single link rotary robot is required to move from θ (0) = 300 to θ(2) = 1000 in 2 secs the joint velocity and acceleration are both zero at the initial and final positions. [16] (a) What is the highest degree polynomial that can be used to accomplish the motion?
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(b) What is the lowest degree polynomial that can be used to accomplish the motion? 8. (a) What are the functions of a position sensor?
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(b) Explain the difference between an encoder and position sensor? Is a position sensor used in combination with a stepper motor-based system or a servomotor based system? [7] (c) What are velocity sensors?
NR410308 IV B.Tech I Semester Supplimentary Examinations, May ...
1. Discuss in detail about the advantages of Robotics over other form of Automation ... Consider the three-link articulated robot of figure 5. Derive the forward ...
(b) The observed difference between the high and low water tide is 0.85meters, for · a proposed tidal site. The basin area is about 0.5sq. Km which can generate.
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NR. II B.Tech I Semester Supplimentary Examinations, May/Jun 2009 ... (b) The electric vector E of an electromagnetic wave in free space is given by the.
(b) A hydraulic press has diameter of ram 200 mm and of plunger 40 mm. It is provided with a lever for applying force to the plunger. If the ratio of leverage.
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III B.Tech I Semester Supplimentary Examinations, May/Jun 2009 · PETROCHEMICAL ENGINEERING · (Chemical Engineering) · Time: 3 hours · Max Marks: 80 · Answer any FIVE Questions · All Questions carry equal marks · ***** · 1. Explain Refining of Crude p
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i. an Induction Motor of 40 HP, with 0.8 p.f. and efficiency 0.85 · ii. a synchronous motor of 25 HP, with 0.9 p.f. leading and efficiency 0.9 · iii. Lighting load of 10 ...
4. (a) Use Warshall's algorithm to find the transitive closure of the relation [10+6] · R = {(1,2)(1,3)(1,4)(2,3)(2,4)(3,4)} · (b) Are the simple graphs with the following ...
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Explain the Remote procedure call in detail. 3. Explain distributed Deadlock Detection and prevention methods. 4. Explain the following processor Allocation ...
