Jawaharlal Nehru Technological University Hyderabad B.Tech IV ROBOTICS Previous Question Paper (July/August - 2022 - R16)

Robots are extensively used in manufacturing to improve precision, safety, and productivity. Key applications include:

• Material Handling: Robots perform repetitive tasks like loading and unloading machines, palletizing, and transferring heavy components between workstations, reducing human fatigue and injury.
• Welding: Both spot and arc welding are common applications where robots provide consistent weld quality, high speed, and the ability to operate in hazardous environments.
• Assembly: Robots are used for high-speed assembly of electronic components and mechanical parts, ensuring accuracy and repeatability in complex sequences.
• Painting and Coating: Spray painting robots ensure uniform coating thickness and reduce worker exposure to toxic fumes and solvents.
• Machining: Robots assist in operations like grinding, deburring, and polishing, maintaining consistent pressure and path accuracy across complex geometries.
• Inspection: Vision-guided robots perform quality control by identifying defects or measuring dimensions, ensuring products meet strict manufacturing tolerances.

Robot configurations are defined by their physical structure and the arrangement of their joints, which determine their workspace and movement capabilities:

• Cartesian (Rectangular) Configuration: Consists of three prismatic joints that move along mutually perpendicular X, Y, and Z axes. It provides a rectangular workspace and is ideal for pick-and-place and gantry operations.
• Cylindrical Configuration: Features one rotary joint at the base and two prismatic joints. The workspace is cylindrical, making it suitable for machine loading and assembly tasks.
• Spherical (Polar) Configuration: Includes one rotary joint at the base, one rotary joint for elevation, and one prismatic joint for reach. It creates a spherical workspace, often used for material handling and die casting.
• SCARA (Selective Compliance Assembly Robot Arm): Features two parallel rotary joints that provide compliance in the horizontal plane and a third prismatic joint for vertical movement. It is highly efficient for high-speed assembly and insertion tasks.
• Articulated (Jointed-Arm) Configuration: Resembles a human arm with at least three rotary joints. It offers the most flexibility and a large, complex workspace, making it the standard for welding, painting, and general assembly.