JNTU
JNTU B.Tech III ROBOTICS AND ITS APPLICATIONS Previous Question Paper (February - 2023 - R18)
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
Define Automation.
Answer
Automation is the technology by which a process or procedure is performed with minimal human assistance, typically through the use of mechanical, electronic, or computer-based control systems to operate equipment.
List the types of grippers.
Answer
The common types of robot grippers include:
- Mechanical grippers (fingered)
- Vacuum (suction) grippers
- Magnetic grippers
- Adhesive grippers
- Hook or scoop grippers
What is homogeneous transformation?
Answer
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What are differences between forward and inverse kinematics?
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Define manipulator.
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Discuss about link inertia tensor.
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What is work cell?
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What are the characteristics of robot level languages?
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How encoder is used?
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Describe the role of robot in industries.
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PART B
How robots are useful for welding application? Explain.
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What are the different types of control systems of robot? Explain.
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Draw and explain the working of magnetic gripper in brief and its advantages.
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Compare and discuss pneumatic and electrical drive systems of robot.
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With an example, explain about homogeneous rotation matrix.
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For the point 3i+7j+5k perform the following operations: 1) Translate 8 units along the Y axis. 2) Rotate 30° about X, then translate 6 along Y. 3) Translate 6 along Y then rotate 30° about X.
Answer
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Explain D-H parameters in detail and derive the matrix for forward transformation.
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Derive the jacobian matrix for velocity and angular velocity of six joint robot.
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Discuss about Lagrange-Euler formulation of two axis planar articulated robot.
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Write a program to perform the task Pick and Place of an object using motion interpolation. Explain.
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Explain how the following functions relate to the programming of a manipulator: a) Real world coordinates b) Cartesian coordinates c) Tool Centre point d) Frame definition.
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Explain about hydraulic actuators with advantages and limitations.
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Write a short note on rotary actuators.
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What is the role of robotics in material handling? Discuss.
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With an example, explain the importance of robotics in assembly.
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