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Internal_April_2013_Robotics

The document is an examination paper for Robotic Engineering at A. D. Patel Institute of Technology, covering various topics including industrial automation, robot anatomy, homogeneous coordinate transformations, and robotic manipulator control concepts. It includes questions on deriving DH parameters, calculating gripping forces, and specifying robotic requirements. The exam is scheduled for 10/04/13 and consists of multiple questions with a total of 30 marks.

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Dr. Yashavant Patel
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5 views

Internal_April_2013_Robotics

The document is an examination paper for Robotic Engineering at A. D. Patel Institute of Technology, covering various topics including industrial automation, robot anatomy, homogeneous coordinate transformations, and robotic manipulator control concepts. It includes questions on deriving DH parameters, calculating gripping forces, and specifying robotic requirements. The exam is scheduled for 10/04/13 and consists of multiple questions with a total of 30 marks.

Uploaded by

Dr. Yashavant Patel
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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A. D.

Patel Institute of Technology, New V V Nagar


ME 2nd Sem. (GTU) Mid Semester Examination
Sub Name: Robotic Engineering (1720803)
Date: 10/04/13 Time: 12.00 a.m. - 1.15 p.m. Maximum Marks: 30

Notes:
(i) Usual conventions and notations are used for the names and terms.
(ii) Illustrate your answers wherever necessary.
Max. Marks: [30]

Q.1
(a) What is industrial Automation? Correlate various types of industrial automation [3]
with neat sketch. Highlight role of robotics in Industrial automation.
(b) Draw a diagram to explain the anatomy of the robot. List the various industrial [4]
robot configurations. State the various components of any robot system.
(c) State the significance of the homogeneous coordinate transformations usage in [3]
robotic manipulators analysis.
Q.2
a) A robotic end effector is positioned as shown in figure 1. The yaw of the end [7]
effector (EE) is π/2 about z-axis. The pitch of EE is π, about X-axis and the roll of
the EE is -π/2, about Y axis.
a) Draw the sketch of the EE in sequence after each of yaw, pitch and roll
motions.
b) The composite transformation matrix T which maps tip coordinates into
the EE’s wrist frame.
c) Find the coordinates of a point P (0, 1.45, 0) at tool tip with respect to
wrist coordinate frame.

b a

EE

Figure 1 Figure 2
(b) Explain control concept of robotic manipulator system. [3]
OR
Q.2 The arm with a three DOF shown in figure 2. Joint 1 axis is not parallel to the [10]
other two. Instead, there is a twist of 90˚ in magnitude between axis 1 and axis
2.
Derive the DH parameters and the kinematic equations for 𝐻𝑂 𝑇.
Note that no L3 need to be defined.
Q.3
(a) (1) The following data relate to a mechanical gripper using friction to grasp [06]
an object:
Weight of the part = 50N
Coefficient of friction between the gripper pad and the object = 0.3
Lengths: L1= 75 mm; L2= 50 mm, L3= 20 mm, L4= 55 mm
Diameter of the piston of the pneumatic cylinder = 80 mm
Factor of safety = 1.5
If the gripping is accelerating down with acceleration = 9.81 m/s2,
Calculate:
 The gripping force to retain to obtain this gripping force
 The actuation force required to obtain this gripping force
 The pressure needed to operate the piston.

(c) Specify the requirement of robot you would like to purchase. State the robotic [04]
specification for your proposal. Justify the each specification you have
proposed in brief.
OR
(c) Explain the following terminologies: [04]
(1) Redundant Manipulator (2) Load carrying capacity
(3) Speed of response (4) Work envelope

***** BEST LUCK *****

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