iv b.tech ii semester regular/supplementary examinations ... · iv b.tech ii semester...

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

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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 with

neat 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 R10

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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]


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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]


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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]


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