Jawaharlal Nehru Technological University Hyderabad
Jawaharlal Nehru Technological University Hyderabad B.Tech III Year FUNDAMENTALS OF ROBOTICS Previous Question Paper (February/March - 2022 - R16)
Answer any five questions. All questions carry equal marks.
Main
Sketch and explain the four basic robot configurations classified according to the coordinate system.
Answer
Robot configurations are classified based on the coordinate system of their workspace, defining how the end-effector moves relative to the base.
- Cartesian (Rectangular) Configuration: Consists of three linear joints (sliding or prismatic) arranged at right angles. It provides a rectangular workspace and is known for high rigidity and simple control.
- Cylindrical Configuration: Features one rotary joint at the base and two linear joints. The workspace is a cylinder. It is useful for reaching into machines or pick-and-place operations.
- Spherical (Polar) Configuration: Comprises one rotary joint at the base, one rotary joint for elevation, and one linear joint for reach. The workspace is a portion of a sphere.
- Jointed-Arm (Articulated) Configuration: Resembles a human arm with multiple rotary joints (typically three or more). It offers high dexterity and can reach around obstacles, making it the most common configuration for industrial applications.
Differentiate CAD/CAM and robotics.
Answer
CAD/CAM and robotics are distinct but complementary technologies in manufacturing:
| Feature | CAD/CAM | Robotics |
|---|---|---|
| Primary Focus | Design and manufacturing process planning. | Physical execution of tasks and manipulation. |
| Scope | Software-based; covers geometric modeling, drafting, and toolpath generation. | Hardware-based; involves sensors, actuators, and control systems for motion. |
| Function | Translates design intent into machine instructions (G-code). | Performs repetitive or dangerous physical tasks like welding or assembly. |
| Interaction | Operates in a virtual or digital environment. | Operates in a physical, real-world environment. |
Explain the relationship of robotics with industrial automation and illustrate the same with a suitable example.
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Give the applications of robot with respect to Cartesian, cylindrical and polar arm configuration.
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Discuss about Vacuum Grippers along with their advantages and disadvantages.
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What are the various factors in selection and design of end effectors? Explain.
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Discuss in detail about Magnetic gripper with neat sketch.
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What do you understand by degree of freedom (DOF)? How many DOFs are required to position an end effector at any point in 3-D space?
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Determine the transformation matrix T that represents a translation of ‘a’ units along x-axis, followed by a rotation of β about x-axis and followed by a rotation of θ about z-axis.
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What is homogenous transformation matrix? Explain four sub matrices.
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What is the role of D-H notation? Explain their importance in solving Forward Kinematics.
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Write homogenous transformation matrices for rotation in 3D.
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What are the common types of motion that a robot manipulator can make in travelling from point to point?
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A point to point robot with a revolute joint moving with velocity of 15 deg/sec, traverses from an initial position of 120 to a final position of 60 deg. Determine the position and velocity at the end of 1, 2 and 3 seconds. The range of initial and final position is covered in 6 seconds with a finite acceleration of 8 deg/sec2.
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Discuss the relative merits and demerits of different textual robot languages.
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Explain different program instructions of teach pendant method with suitable examples.
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