JNTU
JNTU B.Tech III Year II Semester ROBOTICS Previous Question Paper (March - 2024 - R16)
i) Question paper consists of Part A, Part B. ii) Part A is compulsory (25 marks). iii) In Part B, Answer any one question from each unit (10 marks each).
Part A
Answer all questions:
What are the future applications of Robot?
Answer
Future applications of robots extend beyond traditional manufacturing into:
- Healthcare: Surgical assistance, remote patient monitoring, and rehabilitation robotics.
- Service Industry: Autonomous delivery, hospitality robots, and domestic assistance.
- Exploration: Deep-sea, space, and hazardous environment exploration where human presence is risky.
- Agriculture: Automated harvesting, precision spraying, and crop monitoring.
- Disaster Response: Search and rescue operations in unstable or toxic environments.
How many degrees of freedom does a wrist have?
Answer
A standard industrial robot wrist typically possesses 3 degrees of freedom (DOF). These are categorized as:
- Pitch: Rotation about the horizontal axis (up/down).
- Yaw: Rotation about the vertical axis (left/right).
- Roll: Rotation about the longitudinal axis (twisting).
Together, these allow the end-effector to achieve any desired orientation in 3D space.
Differentiate joint coordinates and world coordinates.
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Differentiate forward and inverse kinematics.
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Differentiate between Lagrange Euler and Newton Euler Formulation.
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Differentiate joint space trajectory and Cartesian trajectory planning.
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What features are required for robot in spray painting?
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List the advantages and disadvantages of pneumatic actuator
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What are the limitations of potentiometer?
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What features are required for robot in spot welding?
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Part B
Sketch and explain the four basic robot configurations classified according to the coordinate system.
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Differentiate CAD/CAM and robotics.
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Discuss in detail the architecture of robot system.
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Discuss about Vaccum Grippers along with their advantages and disadvantages.
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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 Ө about z-axis.
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What is homogenous transformation matrix? Explain four sub matrices.
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For the point [3 7 5] perform the following operations:
- Rotate 30° about X-axis
- Translate 8 units along y-axis
- Rotate 30° about x then translate 6 units along Y-axis
- Rotate 90° about z-axis
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What are the singularities of a manipulator? How are they classified?
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How will you compute Jacobian for a rotary Joint?
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Write down the capabilities and limitations of Lead through methods.
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A single cubic trajectory given by
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Explain the various drive system used with an industrial robot and compare their features, merits and demerits.
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Explain the working of a stepper motor.
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Briefly explain the working principle of any two types of position sensors with neat sketch.
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Explain the functions of the following: (i) Tactile Sensors (ii) Resolvers.
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Describe the various considerations taken into account for material handling.
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Explain use of robot in assembly operation.
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Describe the Spray coating operation with robot system.
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Explain application of robot in robot continuous arc welding.
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