Jawaharlal Nehru Technological University Hyderabad
Jawaharlal Nehru Technological University Hyderabad B.Tech III Year ROBOTICS Previous Question Paper (August/September - 2024 - R16)
Note: i) Question paper consists of Part A, Part B. ii) Part A is compulsory, which carries 25 marks. In Part A, Answer all questions. iii) In Part B, Answer any one question from each unit. Each question carries 10 marks and may have a, b as sub questions.
Part A
What is the speed of response of the robot?
Answer
The speed of response is the time required for a robot to move from one position to another or to respond to a control signal. It is typically determined by the robot's actuator dynamics, control system bandwidth, and the mechanical inertia of the links.
Sketch the work volume of the Cartesian robot.
Answer
The work volume of a Cartesian robot is a rectangular parallelepiped (a box shape). It is defined by the range of motion of its three orthogonal prismatic joints (X, Y, and Z axes), where the workspace is the product of the travel lengths of these three linear actuators.
What is homogenous rotation matrix?
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Differentiate forward and inverse kinematics.
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What is an arm singularity?
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What is jacobian of a manipulator?
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What are feedback components?
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List the force sensors.
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What are automated assembly operations?
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What is the purpose of robots in quality inspection?
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Part B
What are the future applications of robotics?
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What are the requirements of an end effector?
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Give a brief relationship between robots and automation in the present industrial scenario.
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Describe the load carrying capacity of the robot.
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Find the transformation matrix of a line which is rotated by 60 degrees to X axis, followed by translation of -5 units on X axis followed by rotation of 30 degrees to Y axis.
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Knowing the link lengths L1 and L2, calculate the required joint angles to place the arm at a position(x,y) in world space.
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Discuss the Newton Euler algorithm carried out for the complete dynamic formulation of an n-dof manipulator.
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The second joint of a SCARA manipulator is required to move from 30 degrees to 150 degrees in 5 sec. Find the cubic polynomial to generate the smooth trajectory of the joint. What is the maximum velocity and acceleration for this trajectory?
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Differentiate electric and hydraulic actuator.
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Discuss about any two types of range sensors.
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Discuss about any two types of tactile sensors.
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Explain the mechanism involved in force and torque sensors.
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What are magazine feeders?
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How robot is used for any processing operation?
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What are the various parts joining tasks where robot is involved?
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What is the purpose of bowl feeders and conveyor systems run by robots?
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