JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD B.Tech III ROBOTICS Previous Question Paper (May - 2019 - R16)
Part A is compulsory which carries 25 marks. Answer all questions in Part A. Part B consists of 5 Units. Answer any one full question from each unit. Each question carries 10 marks.
Part A
Explain the gear and rack actuation of a gripper.
Answer
In gear and rack actuation, a rotating pinion gear meshes with a linear rack attached to the gripper fingers. As the motor rotates the pinion, the rack converts this rotary motion into linear motion, causing the fingers to open or close simultaneously.
Sketch the four common configurations of a robot.
Answer
The four common robot configurations are: 1) Cartesian (three linear joints), 2) Cylindrical (one rotary and two linear joints), 3) Spherical/Polar (two rotary and one linear joint), and 4) Articulated/Anthropomorphic (three rotary joints).
What is a composite rotation matrix?
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Differentiate forward and inverse kinematic problems.
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What does the Jacobian convey in the robotic design?
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What is joint interpolated motion?
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What are the functions of a velocity sensor?
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What is the function of encoder?
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What are the basic robot applications where robot substitutes for human labour?
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How continuous arc welding process is automated?
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Part B
How the intervention of CAD/CAM into the conventional process is liable to develop the future applications.
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Explain the precision of movement of Robot’s wrist end.
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What are the common types of arm configurations.
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What are the number of degrees of freedom of various configurations of robot anatomy.
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Determine a T matrix that represents a rotation of 30 degree about OY axis, followed by a translation of 3 units along OZ axis, followed by rotation of 45 degree about OX axis, followed by translation of -5 units along OY axis.
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A 2 DOF manipulator is shown in Figure. Given that the length of each link is 1m. Establish link coordinate frame and find 0A1 and 1A2. Find the inverse kinematic solution for this manipulator.
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Express the steps involved in Newton Euler formulation to obtain the dynamic solution of a 3 DOF robot having 2 revolute joints and 1 translatory joint.
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Formulate joint trajectories in 3-5-3 trajectory segments with time varying from 0 to 1 units with appropriate polynomial equations.
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Differentiate hydraulic and pneumatic actuator.
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How the potentiometer works as an analog device sensor?
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Briefly describe about the characteristic features of electric actuator.
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How the triangulation technique is used to measure the range in a range sensor.
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What are the general aspects considered in robot material handling equipments.
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Discuss how the spot welding application can be automated.
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How a robot is useful while assembling the parts of any product.
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What are the various equipments used for material transfer applications.
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