JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD B.Tech III ROBOTICS Previous Question Paper (February - 2023 - R16)
Question paper consists of Part A, Part B. Part A is compulsory, which carries 25 marks. In Part A, Answer all questions. 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
Define the term robotics.
Answer
Robotics is the interdisciplinary branch of engineering and science that involves the design, construction, operation, and application of robots. It integrates mechanical engineering, electrical engineering, computer science, and control theory to create programmable machines capable of performing tasks autonomously or semi-autonomously in physical environments.
Define automation.
Answer
Automation is the technology by which a process or procedure is performed with minimal human assistance. It involves the integration of mechanical, electrical, and computer-based systems to operate equipment or perform tasks automatically.
Key aspects of automation include:
- The use of feedback control loops to maintain desired output without constant human intervention.
- The implementation of programmable logic or software to execute sequences of operations.
- The primary objectives of increasing productivity, improving product quality, enhancing safety, and reducing operational costs in manufacturing and industrial processes.
What is manipulator kinematics?
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Explain about Euler angles.
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What is robot arm dynamics?
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What it means by differential transformation.
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What is a hydraulic actuator?
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What is Trajectory Planning?
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Name the material transfer applications.
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Describe robot applications in manufacturing.
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Part B
Classification of robot by control system.
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Write a note on overview of robotics.
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Explain the working principle of proximity sensors used in robots.
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Discuss some of the important considerations in the design of grippers.
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Determine the rotational matrix for a rotation of 45 degrees about y-axis, followed by a rotation of 120 degrees about z-axis and a final rotation of 90 degrees about x-axis.
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If TA be the homogeneous matrix representing a transformation of the fixed frame to a new frame A with respect to fixed F, and TB be another transformation to a frame B with respect to frame A, find the resultant transformation matrix T.
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Find the rotation matrix for a rotation of 30 degrees about the OZ axis followed by a rotation of 60 degrees about OX axis, followed by a rotation of 90 degrees about OY axis.
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What problems will be encountered, if the frames are arbitrarily assigned to develop the forward kinematic model of a manipulator?
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Explain trajectory planning using joint space techniques.
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Using Lagrange Euler formulations determine the equation of motion for the RP manipulator.
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Differentiate between path planning and trajectory planning.
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Explain a 3-5-3 trajectory plan to represent a pick and place movement for an assembly operation.
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Explain electric and stepper motors actuators.
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Write a short note on Velocity sensors and tactile sensors.
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A manipulator with a single link is to rotate from 30 degrees to 100 degrees in 2 seconds. The joint velocity and acceleration are both zero at the initial and final positions. Determine the coefficient of a cubic polynomial that accomplishes the motion.
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List out the advantages and disadvantages of hydraulic actuators.
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What are the general considerations in robot material handling?
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Explain simple pick and place operation of the robot.
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Explain the robot role in stamping press operations.
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Explain the use of robots in the field of spot welding.
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