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Robot and Kinematics W2

This document contains 10 multiple choice questions about mechanism and robot kinematics from an NPTEL online certification course. Each question is followed by a detailed solution. The questions cover topics such as calculating the number of links and degrees of freedom of different mechanisms, identifying common kinematic chains, properties of 4-bar linkages, solving problems related to slider-crank mechanisms, and applying Grashof's criterion.

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138 views8 pages

Robot and Kinematics W2

This document contains 10 multiple choice questions about mechanism and robot kinematics from an NPTEL online certification course. Each question is followed by a detailed solution. The questions cover topics such as calculating the number of links and degrees of freedom of different mechanisms, identifying common kinematic chains, properties of 4-bar linkages, solving problems related to slider-crank mechanisms, and applying Grashof's criterion.

Uploaded by

shriman
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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NPTEL Online Certification Courses

Indian Institute of Technology Kharagpur

Mechanism And Robot Kinematics


Assignment- 2
TYPE OF QUESTION: MCQ
Number of questions: 10 Total mark: 10 X 1 = 10
QUESTION 1:
Calculate the number of ternary links in the mechanism as shown in the figure below.

a. 3
b. 4
c. 5
d. 6

Correct Answer: c

Detailed Solution:

Ans: (c) 5

QUESTION 2:
Calculate the degrees of freedom (DOF) of the mechanism.
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

a. 0
b. 1
c. 2
d. 3

Correct Answer: b

Detailed Solution:

Number of links (nL) = 8


Number of 1 DOF joints (lower pairs) (nJ) = 9 (R) + 1 (P) = 10
DOF of the mechanism = 3×(8-1)-(3×10)+(1×10) = 21-30+10 = 1

Ans: (b) 1

QUESTION 3:
Calculate the degrees of freedom (DOF) of the mechanism.
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

a. 1
b. 2
c. 3
d. 4

Correct Answer: a

Detailed Solution:

Number of links (nL) = 5


Number of 1 DOF joints (lower pairs) = 5
Number of 2 DOF joints (higher pairs) = 1
So, total number of joints (nJ) = 6
DOF of the mechanism = 3×(5-1)-(3×6)+(1×5)+2 = 12-18+5+2 = 1

Ans: (a) 1

QUESTION 4:
Davis steering mechanism is a type of
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

a. RRRP chain
b. RPRP chain
c. RRPP chain
d. 4R chain

Correct Answer: b

Detailed Solution:

Refer to time stamp 29:45 of Lecture 8.

QUESTION 5:
Stephenson’s kinematic chain is used in
a. Klann walking mechanism
b. Quick return mechanism
c. Davis steering mechanism
d. Ackerman steering mechanism

Correct Answer: a

Detailed Solution:

Refer to time stamp 16:25 of Lecture 5.

QUESTION 6:
A 4-bar linkage possesses following link lengths with link L1 fixed to the ground. L1=6 cm, L2=
3 cm, L3= 9 cm and L4= 11 cm. What conclusion can be drawn about the 4-bar linkage?

a. A non-Grashof chain
b. A double crank
c. A double rocker
d. A crank-rocker

Correct Answer: d

Detailed Solution:

For the given 4-bar linkage with L1 = 6 cm, L2 = 3 cm, L3 = 9 cm and L4 = 11 cm. It is a Grashof
chain (3+11<6+9) with one end of the shortest link (L2) hinged to the ground. Thus, only the
shortest link will rotate with respect to the ground and the two other links (L3 and L4) will rock.
Therefore, the mechanism is of crank-rocker type.
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

Ans: (d) A crank-rocker.

QUESTION 7:
A slider-crank mechanism has an offset of 5 cm. If the dead-center positions of the slider are 18
cm apart and the smallest distance of the slider from the ground hinge of the crank over the entire
range of motion is 13 cm, the length of the crank is

a. 30.414 cm
b. 21.707 cm
c. 8.707 cm
d. 17.414 cm

Correct Answer: c

Detailed Solution:

For the given slider-crank mechanism, A and B are the two dead center positions of the slider
with AB = 18 cm. Also, the smallest distance of the slider from the ground hinge of the crank
over the entire range of motion, i.e., OA  L  r  13 cm.

The x-coordinate of the point A is 132  52  12 cm. Therefore, x-coordinate of point B is


18  12  30 cm. So, OB  L  r  302  52  30.414 cm.

30.414  13
Hence, the length of the crank is r   8.707 cm.
2

Ans: (c) r  8.707 cm.

QUESTION 8:
Calculate the degrees of freedom (DOF) of the mechanism.
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

a. 0
b. 1
c. 2
d. 3

Correct Answer: c

Detailed Solution:

Number of links (nL) = 6


Number of 1 DOF joints (lower pairs) = 4 (P) + 3 (R) = 7 = total number of joints (nJ)
Number of 3P loops = 1
DOF of the mechanism = 3×(6-1)-(3×7)+(1×7)+1 = 15-21+7+1 = 2
Ans: (c) 2
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

QUESTION 9:
For a 3R1P mechanism, the length of the shortest link is 5 cm and the length of the connecting
rod is 13 cm. What is the maximum value of the offset so that the shortest link can rotate
completely with respect to all other links?
a. 8 cm
b. 12 cm
c. 5 cm
d. 17 cm

Correct answer: a

Detailed Solution:

Grashof criterion for 3R1P chain is lmin  e  lconnecting rod  e  lconnecting rod  lmin  13  5  8 cm.
 emax  8 cm
Ans: (a) 8 cm

QUESTION 10:
The degree of freedom of the mechanism shown in the figure is

a. 0
b. 1
c. 2
d. 3

Correct Answer: b

Detailed Solution:

Number of links (nL) = 3


Number of 1 DOF joints (lower pairs) = 2 (R) = 2
NPTEL Online Certification Courses
Indian Institute of Technology Kharagpur

Number of 2 DOF joints (higher pairs) = 1


Number of joints (nJ) = 2+1 = 3
DOF of the mechanism = 3×(3 – 1) – (3×3) + (1×2) + 2 = 6 – 9 + 2 + 2 = 1
ANS: (b) 1

*******END*******

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