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Code No: RR420305 Set No. 1

IV B.Tech II Semester Regular Examinations, Apr/May 2007
ROBOTICS
( Common to Mechanical Engineering and Production Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Mention the various levels of Robot technology and state the different classes of
Robot technology levels and their unique characteristics.

3. (a) Briefly explain about the following.

i. Homogeneous coordinates
ii. Homogenous Transformation.
(b) For the point 3i+7j+5k perform the following operation :
[16]
2. What are the basic components of a robotic system? Explain the functions of each
of the components with a diagram. [16]
[8]

Translates 6 units along Y then rotate 300 about X. [8]

4. Perform the forward transformation for the five axis Microbot using the following
data. [16]

Link a α θ d
1. 0 -90 θ1 d1
2. a2 0 θ2 0
3. a3 0 θ3 0

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4. a4 +900 θ4 0
5. 0 0 θ5 d5
5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
robot. [16]
6. Consider the cone shaped link of mass m shown in fig let Lc be the frame obtained
by translating frame Lo = ( x0 , y 0 , Z 0 ) to the center of mass of the cone. Find the
inertia tensor D-bar of this link about its center of mass expressed with respect to
frame Lc .as shown in figure 6 [16]

Figure 6
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Code No: RR420305 Set No. 1

7. Consider a two-link robot arm and assume that each link is 1 m long. The robot
arm is required to move from an initial position (xo , yo ) = (1.96, 0.50) to a final
position (xf , yf ) = (1.00 , 0.75). The initial and final velocity and acceleration are
zero. Determine the co-efficients of a cubic polynomial at each joint to accomplish
the motion. [16]

8. Under what conditions a hydraulic motor is preferred, compared to stepper or DC

servomotor. Briefly explain the functioning of a hydraulic motor. [16]

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Code No: RR420305 Set No. 2

IV B.Tech II Semester Regular Examinations, Apr/May 2007
ROBOTICS
( Common to Mechanical Engineering and Production Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

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1. Explain use of Robots in the fields of welding and painting.

2. What is the work envelop of a robot? Discuss its features in detail.

3. (a) Briefly explain about the following.

i. Homogeneous coordinates
ii. Homogenous Transformation.
(b) For the point 3i+7j+5k perform the following operation :
Translates 6 units along Y then rotate 300 about X.
[16]

[16]

[8]

[8]

4. (a) Explain the different techniques for finding the Inverse kinematics for any
manipulator. [8]
(b) Derive the forward kinematics equation using the DH convention for the three
link planar manipulator shown in the figure4b. [8]

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robot.
Figure 4b
5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
[16]

6. In the re cursive Newton Euler equations of motion referred to its own link co
ordinate frame, the matrix (iRo Ic oRi)is the inertial tensor of link i about the ith
co ordinate frame. Derive the relationship between the matrix and the pseudo -
inertica matrix Ji of the Lagrange - Euler equations of motion. [16]

7. An automated guided vehicle has to be designed to aid visually disadvantages

people. What strategy would you adopt to avoid obstacles and path planning?[16]

8. (a) What are the conditions under which a position sensor is preferred versus
encoder based systems? Where are encoders placed with respect to drive
system and where are position sensors placed? Can both the systems be used
on the same robot? [12]
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Code No: RR420305 Set No. 2

(b) Why are absolute encoders preferred? [4]

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Code No: RR420305 Set No. 3

IV B.Tech II Semester Regular Examinations, Apr/May 2007
ROBOTICS
( Common to Mechanical Engineering and Production Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

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1. What is the role of a Robot in material handling systems? Discuss.

2. With reference to the end effector explain in detail:

(a) mechanical fingers

(b) specials tools
(c) universal fingers.

3. Suppose ‘R’ represents a rotation of 900 about yo followed by a rotation of 450

about z1 . Find the equivalent axis/angle to represent ‘R’. Sketch the initial and
[16]

[6+5+5]

final frames and the equivalent axis vector ‘k’ [16]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]

5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
robot. [16]

6. Derive the expression for joint torques for a planar R-P robotic manipulator using

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Lagranze-Euler formulation. [16]

7. An automated guided vehicle has to be designed to aid visually disadvantages

people. What strategy would you adopt to avoid obstacles and path planning?[16]

8. (a) Explain various devices used as position sensors in robots. [8]

(b) Discuss any one device that can be used as velocity sensor in robot. [8]

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Code No: RR420305 Set No. 4

IV B.Tech II Semester Regular Examinations, Apr/May 2007
ROBOTICS
( Common to Mechanical Engineering and Production Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

www.andhracolleges.com
1. State some applications of Robotics in various fields including agriculture, medical
and defense areas.

2. How do you classify robot end-effectors? Discuss in detail.

[16]

3. Define rotation transformation and explain how to represent the transformation for
rotation of an angle ‘θ’about x , y and z-axis.

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]
[16]
[16]

5. Find the manipulator Jacobian matrix J (q) of the five axis spherical co-ordinate
robot. [16]

6. Explain Direct and Inverse dynamics with a block diagram applied to a simple task.
[16]

7. A manipulator with a single link is to rotate from θ (0) = 300 to θ (2) = 1000 in 2
seconds. The joint velocity and acceleration are both zero at the initial and final
positions. [16]

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(a) Determine the co-efficients of a cubic polynomial that accomplishes the mo-
tion.
(b) Determine the co-efficients of a quartic polynomial that accomplishes the mo-
tion and
(c) Determine the co-efficients of a quintic polynomial that accomplishes the mo-
tion.

8. Under what conditions a hydraulic motor is preferred, compared to stepper or DC

servomotor. Briefly explain the functioning of a hydraulic motor. [16]

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