JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD
JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD B.Tech III ROBOTICS Previous Question Paper (July - 2023 - 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
What is Automation in robotics?
Answer
Automation in robotics refers to the use of control systems and information technologies to reduce the need for human intervention in the production of goods and services. It involves programming a robot to perform repetitive, precise, or hazardous tasks automatically based on a set of predefined instructions or sensor feedback.
What are degrees of freedom?
Answer
Degrees of Freedom (DOF) represent the number of independent parameters that define the configuration or state of a robotic system. In a robotic manipulator, each joint provides one degree of freedom (either rotational or translational). A robot with 6 DOF, for example, can reach any point in 3D space with any desired orientation.
What is D-H notation explain in brief?
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What is Forward Kinematics? Explain.
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What is meant by Jacobian?
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Illustrate and explain Skew motion.
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Explain about Hydraulic actuators.
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What is potentiometer?
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Explain in brief about spray painting application in robots.
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What are the future applications of robots?
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Part B
On what criteria Robots are selected for performing tasks assigned?
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What are the basic components of Robot? Explain them briefly with sketch.
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How do you specify a robot? Is robotics automation? Discuss the different classification systems of robots.
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Define the terms ‘Robot’ and ‘Robotics’. Discuss the role of robots in engineering.
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Explain the homogeneous transformation as applicable to rotation.
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What is forward kinematics problem? Find the D-H matrix for cylindrical robot.
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The end effector position of a robot is translated in the x-y-z- directions by distances of 5, 10 and 15 respectively. Write the transformation matrix if the initial point position of the end effector is (2, 1, 2). What is the final position on of the end effector?
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Derive the forward kinematics matrix for an articulated robot arm (3-axis) using DH convention.
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Differentiate between path planning and trajectory planning
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A point to point robot with a revolute joint moving with velocity of 15 deg/sec, traverses from an initial position of 120 to a final position of 60 deg/sec. Determine the position and velocity at the end of 1, 2 and 3 seconds. The range of initial and final position is covered in 6 seconds with a finite acceleration of 8 deg/sec2.
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Explain the following: i) Joint integrated motion ii) Straight line motion.
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A single cubic trajectory is given by the equation below 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 is the role played by control systems in the functioning of Robots?
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Explain in detail about safety sensors and safety Monitoring.
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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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Discuss different types of actuators used for robots.
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What are future manufacturing applications of robot?
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What are general considerations in Robot material handling?
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Define material transfer application. Explain about simple pick and operation with neat sketch.
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