IV B.Tech II Semester Regular/Supplementary Examinations ... ?· IV B.Tech II Semester Regular/Supplementary…

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IV B.Tech II Semester Regular/Supplementary Examinations, April 2015 ROBOTICS & AUTOMATION (Common to Biomedical Engineering and Electronics & Instumentation Engineering) Time: 3 hours Max. Marks: 75 Answer any FIVE Questions All Questions carry equal marks ***** 1. Classify Robots Based on Physical Configuration (or) Co-ordinate Systems. [15] 2. Explain about Hydraulic, Pneumatic and electric drivers with neat sketches. [15] 3. Discuss about the Pneumatic manipulators and electronic manipulators in detail withneat sketch. [15] 4. a) Explain Hydraulic actuators system with neat sketch.b) Write note on Gripper selection and design. [7+8] 5. Derive the equations of motion for the two-degree of freedom system. [15] 6. Explain about the Jacobian inverse technique with suitable examples. [15] 7. Briefly explain the Robot Programming Languages in detail. [15] 8. Explain the workplace design consideration for safety of Robots in detail. [15] Code No: R42104 Set No. 1 R101 of 1 www.jntuking.comwww.jntuking.comwww.jntuking.comIV B.Tech II Semester Regular/Supplementary Examinations, April 2015 ROBOTICS & AUTOMATION (Common to Biomedical Engineering and Electronics & Instumentation Engineering) Time: 3 hours Max. Marks: 75 Answer any FIVE Questions All Questions carry equal marks ***** 1. Explain the various parts of a robot with neat sketch. [15] 2. Briefly explain the working principle of Proximity and Range sensors with neat sketch. [15] 3. What is the function of a manipulator? Discuss the working of a robotic manipulator arm with a sketch. [15] 4. a) Explain Pneumatic actuators system with neat sketch. b) Explain the various drive system used with an industrial robot and compare their features, merits and demerits. [7+8] 5. Using the Lagrangian method, derive the equations of motion for the two-degree of freedom robot arm. [15] 6. What are the Hill climbing techniques? Explain them in detail. [15] 7. a) Distinguish between flexible automation and programmable automation. [7+8] b) Explain the dynamic stabilization of robots. 8. Briefly explain the safety sensors and safety monitoring of Robots in detail. [15] Code No: R42104 Set No. 2 R10 1 of 1 www.jntuking.comwww.jntuking.comwww.jntuking.comIV B.Tech II Semester Regular/Supplementary Examinations, April 2015 ROBOTICS & AUTOMATION (Common to Biomedical Engineering and Electronics & Instumentation Engineering) Time: 3 hours Max. Marks: 75 Answer any FIVE Questions All Questions carry equal marks ***** 1. Explain the main Robot anatomy with neat sketch. [15] 2. Briefly explain about Tactile Sensor with neat sketch. [15] 3. Determine the dynamic equations for the two-link manipulator shown in Figure 1,when each link is modeled as a rectangular solid of uniform density. Each link has dimensions ai,bi and hi and total mass mi . [15] 4. Explain various types of Gripper mechanisms. [15] 5. a) Derive the force-acceleration relationship for the one-degree of freedom system. b) Distinguish between Lagrangian and Newtonian mechanics. [7+8] 6. How does direct kinematics differ from inverse kinematics? Discuss Euler angle representation for orientation. [15] 7. a) Write down the capabilities and limitations of Lead through methods. b) What is robot software? Discuss the software elements of robot and different teaching methods of robot. [7+8] 8. a) Briefly explain the various steps involved for implementing the robot in industries. b) Explain the concept of tracking window in In-line robot work cell. [7+8] Code No: R42104 Set No. 3 R10 1 of 1 www.jntuking.comwww.jntuking.comwww.jntuking.comIV B.Tech II Semester Regular/Supplementary Examinations, April 2015 ROBOTICS & AUTOMATION (Common to Biomedical Engineering and Electronics & Instumentation Engineering) Time: 3 hours Max. Marks: 75 Answer any FIVE Questions All Questions carry equal marks ***** 1. a) Discuss the material transfer applications of robot. b) Discuss the machine loading/unloading applications of robot. [7+8] 2. a) What are the three types of sensors used in vision systems? Explain. b) Describe the operation of vidicon and solid-state camera. [7+8] 3. Explain various force control methods in robot manipulators [15] 4. a) What are the advantages of Stepper Motors? b) How do you classify Hydraulic and Pneumatic actuators? [7+8] 5. Using the aforementioned equations, derive the equations of motion for the two-degree of freedom robot arm. The two links are assumed to be of equal length. [15] 6. What is inverse kinematics problem? Explain the solution to the inverse kinematics problem with an example. [15] 7. a) Explain the WAIT, SIGNAL and DELAY commands used in robot programming. b) Explain the two generations of textual robot languages. [7+8] 8. a) Discuss the issues to be considered in robot work cell design. b) What is an interlock in robotic work cell design? Explain [7+8] Code No: R42104 Set No. 4 R10 1 of 1 www.jntuking.comwww.jntuking.comwww.jntuking.com

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