JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD B. Tech III Year ROBOTICS Previous Question Paper (August - 2022 - R16)
Answer any five questions. All questions carry equal marks.
Main
Enlist the applications and characteristics of future robots.
Answer
Future robots are evolving from rigid, structured automation to intelligent, adaptive systems capable of operating in unstructured environments. Their key characteristics and applications are as follows:
Characteristics of Future Robots:
- Adaptability and Learning: Integration of machine learning and AI allows robots to learn from their environment and optimize tasks without explicit reprogramming.
- Human-Robot Collaboration (Cobots): Designed to work safely alongside humans, utilizing advanced sensors and force-limiting technology to prevent injury.
- Autonomy: Enhanced perception through computer vision and sensor fusion enables robots to make real-time decisions independently.
- Mobility and Dexterity: Advanced actuators and soft robotics materials allow for complex movements and interaction with delicate objects.
- Connectivity: Seamless integration with IoT and cloud computing for remote monitoring, data analytics, and fleet coordination.
Applications:
- Healthcare: Surgical assistance, remote patient monitoring, and rehabilitation robotics.
- Service and Domestic: Autonomous delivery, elderly care, and advanced household assistance.
- Exploration: Deployment in hazardous environments such as deep-sea exploration, space missions, and disaster recovery.
- Agriculture: Precision farming, autonomous harvesting, and crop monitoring.
- Logistics: Fully automated warehousing and last-mile delivery solutions.
Sketch and explain two views to indicate the work envelope of a i) Cartesian robot ii) Polar robot.
Answer
The work envelope (or workspace) represents the set of all points that the end-effector of a robot can reach. The configuration of the joints determines the shape of this volume.
i) Cartesian Robot (Rectangular Coordinate Robot):
A Cartesian robot consists of three prismatic (sliding) joints arranged orthogonally (X, Y, and Z axes). Its movement is purely linear.
- Top View: Shows the rectangular area covered by the X and Y axes.
- Side View: Shows the vertical reach along the Z axis.
ii) Polar Robot (Spherical Coordinate Robot):
A polar robot consists of one rotary joint at the base, one rotary joint for elevation, and one prismatic joint for radial extension.
- Top View: Shows a circular sector representing the rotation about the base (azimuth).
- Side View: Shows a circular arc representing the vertical rotation (elevation) and the radial extension.
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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Compute the homogeneous transformation representing a translation of 3 units along the x-axis and followed by rotation of 90 degrees about the current z-axis followed by a translation of 1 unit along the fixed y-axis.
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Explain and derive inverse kinematic solution for the variables of a cylindrical robot.
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Explain the homogeneous transformation as applicable to rotation.
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Find the D-H matrix for cylindrical robot.
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What is forward kinematics problem?
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Find the manipulated Jacobian matrix(J) of cylindrical robot.
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Find the manipulator Jacobian matrix J(q) of the five axis spherical co-ordinate robot.
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Differentiate between path planning and trajectory planning.
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A single cubic trajectory is given by θ(t) = 8 + 10t + 45t² + 35t³ and is used over the time interval from t = 1 to t = 2. What are the initial and final velocities and accelerations?
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What are the functions of sensors? How do you sense the positional accuracy of a robot? Describe the suitable type of sensor used to measure the position.
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Compare the features of most commonly used electric actuators in robotics.
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State characteristics of work which promote application of robots. Discuss robot application for assembly and inspection.
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What are the desirable features of a robot for successful machine tool load/unload applications?
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