Code No: RR322403 Set No.

1
III B.Tech II Semester Supplimentary Examinations, Aug/Sep 2007
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. Discuss the specific features of a Robot that are required for arc welding process
and how it different from one that is used for spot welding? [16]

2. Name five different types of robot end effectors. Compare and contrast the end
effectors from the viewpoint of their functions. [16]

3. For the point auvw = (6, 2, 4)T perform following operations. [5+5+6]

(a) Rotate 300 about the X axis, followed by translation of 6 units along Y axis.
(b) Translate 6 units along Y axis, followed by rotation of 300 about X axis.
(c) Rotate 600 about Z axis followed by translation of 10 units along the rotated
U axis.

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

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

5. If a robot arm is moving at a very slow speed then its centrifugal forces or torques
can be omitted from the equations of motion formulated by the Legrange-Euler
approach, will these “approximate” equations of motion be computationally more
efficient than the Newton-Euler equations of motion? Explain and justify your
answer? [16]

6. Discuss the PLACE graphic software package. [16]

7. (a) Sketch and explain the Rotary vane fluid power system used in Robot arm.
[10]
(b) List out the advantages and disadvantage of hydraulic actuators. [6]

8. What are the robot system’s capabilities in the following assembly operations ners

(a) Adhesives
(b) Snap fits
(c) Retainers. [16]

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Code No: RR322403 Set No. 2
III B.Tech II Semester Supplimentary Examinations, Aug/Sep 2007
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Explain the various components of Robot system with the help of a schematic
diagrams. [16]

2. What is a gripper compliance? When the gripper compliance is applicable. [16]

3. For the point 4i+6j+7k perform the following operations:-

(a) Rotate 450 about the X axis [3]

0
(b) Rotate 30 about the Y axis [3]
(c) Translate 900 units along Y axis [3]
(d) Rotate 300 as out Z axis [3]
(e) Translate 6 units along Z axis. [4]

4. Perform the inverse transformation for the planar RRR robotic manipulator. Assign
D-H coordinate frames at each joint and prepare a link parameter table. [16]

5. Develop the expressions for the joint torques of a planar R-R manipulator using
Lagrange- Euler Formulation. [16]

6. Write an AML statement for defining a coordinate frame grasp which can be ob-
tained by rotating the coordinate frame block through an angle of 30o about the Y
axis and then translating in 150 and 100 mm in the X and Y axes, respectively.
[16]

7. (a) What are the characteristics of a dc tachometer? What are its limitations?[6]
(b) Explain the importance of feedback devices in robotics. List different feed
back devices. [5]
(c) What are the limitations of pneumatic actuators? [6]

8. Discuss the following robotic arc welding sensor systems designed for tracking the
welding seam.

(a) Contact arc-welding sensors

(b) Non-contact arc-welding sensors. [16]

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Code No: RR322403 Set No. 3
III B.Tech II Semester Supplimentary Examinations, Aug/Sep 2007
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Discuss the specific features of a Robot that are required for arc welding process
and how it different from one that is used for spot welding? [16]
2. What do you understand by degrees of freedom (DOF)? How many DOFs are
required to position an end-effector at any point in 3-D space? Justify. [16]
3. Define rotation transformation and explain how to represent the transformation for
rotation of an angle ‘θ’about x , y and z-axis. [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 two-axis planer articulated robot
shown in figure5. [16]

Figure 5

6. Explain the following of the VAL II robot programming language

(a) Interlock commands
(b) Input / Output controls
(c) Program control. [16]
7. What are position sensors? What are the different types of position sensors? What
are the conditions that determine the choice of a particular type of position sensor?
[16]
8. Discuss a single station robotic assembly system with the help of an example. [16]

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Code No: RR322403 Set No. 4
III B.Tech II Semester Supplimentary Examinations, Aug/Sep 2007
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. Distinguish between Hard Automation and Soft Automation. [16]

2. (a) Classify the robot end-effector from the view point of control. [6]
(b) A part weighing 50N is to be held by a robot end-effector having two fingers.
The co-efficient of friction between the fingers and the part is 0.25. Assuming
g- factor to be 3.0 and the weight of the part is applied in a direction parallel
to the contacting finger surfaces, estimate the gripping force. [10]

3. (a) Describe the effects of pre-multiplying and post-multiplying points in a given

frame by homogeneous transformation. [8]
(b) Compute the value of the transformation matrix for the end point of a motion
in which a robot moves a container forward by ‘dy’ units in z direction and
then dumps out its contents by rotating the about sanuaxin container by 1800 .
[8]

4. For the PUMA 600 robotic arm the joint parameter table is given below: [16]
Find 0 T6 .
Link Parameter Table of PUMA 600

Link a α θ d
1. 0 -90 θ1 0
2. A2 +180 θ2 d2
3. a3 +90 θ3 0
4. 0 +90 θ4 d3
5. 0 -90 θ5 0
6. 0 -180 θ6 d6
5. Develop the expressions for the joint torques of a planar R-R manipulator using
Lagrange- Euler Formulation. [16]

6. (a) What is path planning? Explain the need for path planning. [6]
(b) Differentiate between path planning and trajectory planning. [4]
(c) What are the drawbacks of incremental encoders? [6]

7. (a) Draw the figure of a hydraulic system of robot and show how the out put shaft
velocity is proportional to the flow of the oil in motor-pump combination for
a hydraulic system. [10]
(b) Compare and contrast hydraulic and Electrical actuators. [6]

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Code No: RR322403 Set No. 4
8. Discuss the loading and unloading applications of robot in the following production
operations.

(a) Forging
(b) Die casting
(c) Machining. [16]

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