Jawaharlal Nehru Technological University Hyderabad
Jawaharlal Nehru Technological University Hyderabad B.Tech IV ACTUATORS AND ROBOT SYSTEMS Previous Question Paper (June - 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
List out major industries where robots are extensively utilized.
Answer
Robots are extensively utilized in the following major industries:
- Automotive Industry: Primarily used for welding, painting, assembly, and material handling on production lines.
- Electronics and Semiconductor Industry: Employed for high-precision tasks such as pick-and-place of components, circuit board assembly, and cleanroom manufacturing.
- Logistics and Warehousing: Used for automated storage and retrieval systems, sorting, and autonomous mobile robots for inventory transport.
- Healthcare and Pharmaceuticals: Utilized for surgical assistance, laboratory automation, and precise drug dispensing.
- Food and Beverage Industry: Applied in packaging, palletizing, and quality inspection processes.
State the benefits of using gantry-type robots.
Answer
Gantry-type robots, also known as Cartesian robots, offer several distinct advantages in industrial applications:
- Large Workspace Coverage: Because they operate on a linear coordinate system (X, Y, Z axes), they can cover a significantly larger work envelope compared to articulated robots, making them ideal for tasks like pick-and-place over long conveyor lines or large-scale assembly.
- High Structural Rigidity and Accuracy: The overhead mounting and support structure provide exceptional mechanical stiffness, which minimizes vibration and allows for high positional repeatability and precision, even when handling heavy payloads.
- Simplified Programming and Control: Since the robot moves along orthogonal axes, the kinematics are straightforward (linear motion), which simplifies path planning, motion control, and programming compared to the complex non-linear transformations required for multi-jointed robotic arms.
Differentiate between robot kinematics and dynamics.
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What are the different types of mobile mechanisms used in robotics?
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Define RFID technology and list out its basic components.
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Define the term “sensor range” and state its significance in sensor selection.
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State the advantages of integrating hydraulic and electrical systems in robots.
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Differentiate between hydraulic and electrical systems in robotic applications.
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List out the basic types of robot programming.
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Define the concept of human-robot interaction programming.
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Part B
Explain the role and components of control programs in robotic systems.
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Discuss the benefits of integrating robots into industrial processes, including increased efficiency, precision, and safety.
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Explain the significance of roll, pitch, and yaw in controlling the orientation and stability of robotic end-effectors.
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Discuss the following control programs used in robotics: (i) Proportional-integral-derivative, (ii) Finite state machines, (iii) Model predictive control.
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Describe the fundamental principles of robot kinematics and their influence on the robot’s motion.
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Discuss various methods and algorithms used in motion planning for robots, considering obstacle avoidance and optimization.
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Explain the importance of motion control strategies in mobile robotics and discuss approaches for achieving precise and robust control of locomotion.
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State the advantages and limitations of wheeled mobile robots compared to tracked or legged robot systems.
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Discuss the working principle of ultrasonic sensors and outline their applications in robot systems.
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Discuss the advantages of using lasers in sensor technology applications in robot systems.
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Explain the function and significance of reed switches in robot sensor applications.
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Describe the working of piezoelectric sensors for robot systems.
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Explain the working of linear hydraulic actuators.
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Discuss ball valves used for robot systems.
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Write about the operation of AC synchronous brushless servo motors.
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Explain the operation of solenoids for robot systems.
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Explain the manual lead through programming in robot application.
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Write about the end effectors command and sensor command.
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Explain the operating principle of a sorting robot.
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Discuss safety considerations of industrial robots.
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