ROBOTICSQUESTION BANK Unit v,Vi,Vii,Viii By Mahendra babu Mekala, PBRVITS, kavali

PBR VISVODAYA INSTITUTE OF TECHNOLOGY  AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING Clas Class s : IV B.Te B.Tech ch (I sem) sem) (obj (objec ecti tive ve type type BITS BITS)) UNITS: I,II,III,IV ROBOTICS

 Technology that is concerned with the use of mechanical, electronic and computer based systems in the operation and control of production a). a). Mech Mechan aniz izat atio ion n b). b). Au Auto toma mati tion on c). c). Indu Indust stri rial aliz izat atio ion. n. d). d). all all the the abov above. e. 2. Highly integrated transfer lines comes undertype of automation. a), progra programma mmable ble b). Flexib Flexible le c). Fixed Fixed d). (a) & (b) 3.  Type of control used in Bang - Bang robot. a), servo b). non-servo c). None of the above d). all the above. 4. SCARA robot robot is used in. applications. applications. a).quali a).quality ty control control b).assembl b).assembly. y. c).defense. c).defense. d). all the above. above. 5. Following is the robotic like device. a). Telecherics. b). exo-skeleton c). locomotive device d). all the above. 6. Number of linear co-ordinates in a cylindrical co-ordinate robot. a). 2 b). 3 c). 1 d). 0 7. Work volume of a spherical robot a), cylinder b). paraboloid c). sphere d). cube 8. Wrist motions of the robot among the following. a), yaw b). pitch c). roll d). all the above. 9.  The attractive feature of SCARA robot a), more tolerance b). Selective compliance c). Accuracy d). Repeatability 10.  Type of control used in Cartesian robot. a), servo b). non-servo c).pneumatic d). hydraulic 11 . ……………….type ……………….type of robot uses feed back from the control system a), non-servo b). servo c). (a) & (b). d). Pneumatic 12 Type of robot used in spray painting applications applications a), a), poin pointt to poin pointt b).b b).ban angg-ba bangc ngc). ). end end poin pointt d). d). cont contin inuo uous us path path 13. Preferred robot system for load carrying applications a), hydraulic b). Pneumatic c). Electrical d). Mechanical 14. Interface between the last link of the manipulator and the end effector is called a), a), crit critic ical al join jointt b). b). Grip Grippe perr c). c). Wris Wristt d). d). Tool Tool flan flange ge 15. Preferred robot system for high repeatability applications a), cylindrical b). Cartesian c). spherical d). any of the above 16.  Type of robot used in transferring the object a), point to point b).bang-bangc). end point d). continuous path 17. Type of robotic like device used in undersea application a pplications s a).Tel a).Telech echeri erics. cs. b). exo-sk exo-skele eleton ton c). locomo locomotiv tive e device device d). prosth prosthesi esis s 18.  The shape of work volume of a cylindrical robot is.... a), paraboloid b). sphere c). cylinder d). cube 19. Number of polar co-ordinates in a jointed arm configuration a). 2 b). 3 c). 1 d). 0 20. Type of robot used in grinding applications. a), point to point b).bang-bangc). end point d). continuous path 21. the technical name of a hand attached to the wrist of the robot a), gripper b). end effector c). joint d). any of the above 1.

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arm and the body joints of the manipulator are used to...............................the end effector a), a), orie orient nt b). b). posi positi tion on c). c). shak shake e d). d). any any of the the abov above. e. the robot configuration, which is used in high reach applications a), polar b). jointed armc). spherical d). (a) & (b). high repeatability applications applications of Cartesian configurations configurations is due to a), linear joints b). high stiffness of links c). its rigid structure d). all the above. 25................................................................................................... "piston movement inside the engine cylinder" is............................................... is..................................................type ...type of joint. a), prismatic b). rotational c). twisting d). revolving 26. Interface between the last link of the manipulator and the end e ffector is called a), critical joint b). Gripper c). Wrist d). Tool flange / too mounting plate. 27.  The intelligence which is required to control the manipulator will be provided by a), sen sensor sor b). cont contrroll oller c). c). Sequ Sequen ence cerr d). Syn Synchr chronize nizerr. 28.  The device which is used to interpret the data stored in a memory of a robot. a), sen sensor sor b). b). cont contrroll oller c). c). Seque equen ncer cer d). d). Sync Synchr hro oniz nizer. er. 29.  The device which is used to hold or grasp the object a), a), end end effe effect ctor or b). b). grip grippe perr c). c). (a) (a) or (b). (b). d). d). none none of the the abov above. e. 30. "Only one surface required to grasp or hold the object" by a), vacuum gripper b). magnetic gripper c). adhesive gripper d). any of the above. 31....................................................................... Magne agnettic gri gripper per is is used used only nly for for mater ateriials als.[ a), a), stai stainl nles ess s stee steell b). b). nonnon-fe ferr rrou ousc sc). ). ferr ferrou ous s d). d). plas plasti tic c 32. Ability of the wrist socket to yield elastically, when subjected to a force is called...................................................................................................... a), elasticity b). stiffness c). strength d). compliance. 33. Remote Remote Center Centered ed Compli Complianc ance e ( RCC ) device devices s are are used used in appli applicat catio ions. ns. a), assembly b). defense c). undersea d). mining 34. Number degrees of freedom exhibited by robot wrist a). 1 b). 2 c). 3 d). 4 35. Type of robot used in spot-welding applications. a), point to point b).sequential c). end point d). continuous path 36. Type of drive used for larger robots a), electrical b). mechanical c). pneumatic d). hydraulic 37. Type of power used in robot for precision work applications a), electrical b). mechanical c). pneumatic d). hydraulic 38. Smallest increment of the movement into which the robot can divide its work volume a), control resolution b). spatial resolution c). repeatability repeatability d). accuracy 39. Mechanical inaccuracy among the following following a), gear backlash b). leakage of hydraulic fluid c). stretching of pulley pulley cards d). all the above. 40. Relati Relation on betwee between n spatia spatiall resol resoluti ution, on, contro controll resol resoluti ution on and mechan mechanica icall inaccuracies is a) , spatial resolution = control resolution + mechanical inaccuracies  b) . spatial resolution = control resolution - mechanical inaccuracies c) . spatial resolution = control resolution x mechanical inaccuracies d). spatial resolution = control resolution -r mechanical inaccuracies 2

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING Class : IV B.Tech (I sem) Descriptive type) UNITS: I,II,III,IV ROBOTICS

Write a detailed notes about Flexible Automation, with applications. applications. [16] 2. Explain use of Robots in the fields of welding and painting. [16] 3. Explain with the neat diagram how Robot can be gainfully employed in the inspection methods of component made in large number. [16] 4. (a) Why are Robots used in a flexible manufacturing cells? [8] (b) What advantages are derived by its use in the cell? [8] 5. (a) What What is is indust industri rial al autom automati ation? on? Comp Compare are hard hard auto automat matio ion n with with soft automation. [8] (b) (b) Desc Descri ribe be the the adva advanc nced ed tech techno nolo logi gica call feat featur ures es and and appl applic icat atio ions ns of  modern robots? [8] 6. (a) Give the classifi classificatio cation n of of robot robots s by coordina coordinate te system system and describe describe the features of each type. [8] (b) (b) Disc Discus uss s the the adva advant ntag ages es and and disa disadv dvan anta tage ges s of usin using g the the robo robots ts in industry.[8] 7. (a) Give the classifi classificatio cation n of of robot robots s based based on control control system system and describe describe their characteristic features. [8] (b) Describe the present day industrial applications applications of robots. [8] 8. Name any three types of end effectors effectors for robots. robots. State the advantages advantages of  each?[16] 9. With the aid of a sketch describe the mounting of a spot welding electrodes on a robot wrist. [16] 10. Illustrate a robot gripper with [5+5+6] (a) cam operated (b) gear operated (c) lever (links) operated fingers 10. Name five different types of robot end effectors. Compare and contrast the end effectors from the viewpoint of their functions. [16] 11. (a) Briefly describe the various robot components. [10] (b) (b) Defi Define ne ‘deg ‘degre rees es of freed freedom om’. ’. How How do you you calc calcul ulat ate e the the degr degree ees s of  freedom of a robot Manipulator? [6] 1.

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(a) Dicuss briefly about the grippers and give its classification. classification. [8] [8] (b) Show the degrees of freedom for the following joints with the help of 

neat

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sketches [8] (i) Prismatic joint (ii) Revolute joint (iii) Cylindrical joint (iv) Spherical joint (v) Planar joint (vi) Screw joint (a) Explain the selection criteria of end-effectors in robotics. [8] (b) Describe the common types of robot arms. [8] (a) Describe Describe the degrees of freedom freedom of a robot robot wrist wrist with the help help of of a neat sketch. [8] (b) Describe the common types of robot arms. [8] Suppose ‘R’ represents represents a rotation rotation of 900 about about yo followed followed by a rotation rotation of  450 about z1. Find the equivalent axis/angle to represent ‘R’. Sketch the initial and final frames and the equivalent axis vector ‘k’ [16] For the point auvw = (6, 2, 4)T perform following operations. [5+5+6] (a) Rotate 300 about the X axis, followed by translation of 6 units along Y

axis.

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(b) Translate 6 units along Y axis, followed by rotation of 300 about X axis. (c) Rotate 600 about Z axis followed by translation of 10 units along the rotated U axis. Defi efine rotati tatio on tran transf sfo ormat mation and expla xplaiin how to repr epresen esentt the the transformation transformation for rotation of an angle ‘θ’about x , y and z-axis. (a) Define Translation Translation transformatio transformation n and explain how the coordinate of the vector changes.[8] (b) A point P (5,5) lies in a 2-D reference frame. The point has to move along the line at an angle 450 for a distance of 10 units. What are the coordinates of the final position of the point? (a) Find the transformation transformation matrices matrices for the following operations on the point k ˆ 3 - j ˆ 9 i ˆ 4 + . i) Rotate 45o about x-axis and then translate 3 units along zaxis. ii) Translate -4 units along x-axis and rotate 60o about x-axis. [8] (b) State and prove the properties of a rotation matrix. [8] (a) Determine a matrix matrix T that represents a rotation of _ angle angle about x- axis, axis, followed by a translation of b units of distance along the z-axis, followed by

a rotation of _ angle about the y-axis. [8] (b) Find the transformation matrices for the following operations on the point

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3i+7j+5k i) Rotate 45o about x-axis and then translate -5 units along y-axis. ii) Translate 7 units along y-axis and rotate 60o about x-axis. (a) Determi Determine ne the homogene homogeneous ous transfo transformat rmation ion matrix matrix to repres represent ent the following the sequence of operations: (i) rotation of 45o about x-axis (ii) translation of 6 units along x- axis (iii) translation of –3 units along z-axis (iv) rotation of 30o about y-axis [8] 4

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(a) Find the rotation matrix corresponding to the the set of Euler Euler angles ZYX [6] (b) Compute the rotation matrix to represent a rotation of 90o about an arbitrary vector 3i+7j+5k [6] (c) Verify that a rotation matrix Rk that describes the elementary rotation, _  about an axis k follows the property, Rk(- _) = Rk(_). [4] 23. Considering a jointed jointed arm robot manipulator with its x, y and z axes aligned aligned with a reference Cartesian co-ordinate frame but located at {x, y} = {3 mt, -2 mt} the end of arm of the robot is currently at {x, y, z} = {4 mt, 1 mt, 2 mt} relative to the reference co-ordinate frame. As end effector is 0.5 mt in length is attached to the end of arm is pointing vertically down. Relative to the tip of the end effector is a cube with 15 mm on a side and with its nearest corner positioned 0.5 mt in the x direction 1 mt in y direction and 0 mt in z direction from the tip of the end effector. For the above description make the sketch of work volume cell. [16] 24. Write and explain the algorithm for deriving the forward kinematics for any manipulator based on D-H convention. Perform the forward transformation for the five axis Microbot using the following data. Link a α θ d 1. 0 -90 θ1 d1 2. a2 0 θ2 0 3. a3 0 θ3 0 4. a4 + 900 θ4 0 5. 0 0 θ5 d5 26. (a) Explain the different techniques for finding the Inverse kinematics for any manipulator. [8] (b) Derive the forward kinematics equation using the DH convention for the three link planar manipulator. [8] 27. 27. Wh What at is a forw forwar ard d kine kinema mati tics cs prob proble lem? m? Expl Explai ain n Dena Denavi vitt-Ha Hart rten enbe berg rg convention for selecting frames of reference in robotic application. [16]

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING Clas Class s : IV B.T B.Tech ech (II (II sem) em) (obj (objec ecttive ive type type BITS BITS))

UNIT UNITS: S: V,VI V,VI,V ,VII II,V ,VII IIII

ROBOTICS

1. 2. 3. 4.

Jacobin is the method of control of ……in a co-ordinate fashion. [ (a). controller (b). Sequencer (c). Manipulator (d). Sensor Jaco Jacobia bian n rela relate tes s the the veloc velocit itie ies s of joint joints s to to the the velo veloci citi ties es of ………… ……………… …….. [ ] (a). Tool point (b). Manipulator (c). Joint d). None of the above. Jacobian is a time varying quantity [ ] (a). False for all (b). True for all (c). Can’t say (d). Some times. -I if A- is a non non-s -sin ingu gula larr squ squar are e mat matri rix, x, then then A = ………………. [ ] 5

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(a). adjA X detA (b). adj A + detA (c). adjA ÷ detA (d). detA ÷ adjA 5. dynamic model of a robotic arm can be studied by [ ] (a). Newtonian Laws (b). Lagrangian Laws (c). Eularian Laws (d). all the above. 6. ………..r ………..repr eprese esenta ntatio tion n has been been used used to to des descri cribe be the specia speciall disp displac laceme ement nt betwe between en two links [ ] (a). (a). Ide Ident ntit ity y Matr Matrix ix.. (b). (b). Nul Nulll Matrix Matrix.. (c). (c). D-H D-H Matr Matrix ix.( .(d) d).. none none of of the the abov above. e. 7. Lagr Lagran angia gian n Func Functi tion on L= f( Kine Kineti tic c Ene Energy rgy,, Pot Poten enti tial al Ener Energy gy )=…… )=………… …… [ ] (a). KE + PE (b). KE – PE ©. KE ÷ PE (d). PE ÷KE 8. Measure of mass distribution…………………….. [ ] (a). Radius of gyration (b).acceleration (c). moment of inertia (d). any of the above. 9. Iner Inerti tia a Tens Tensor or cha chara ract cter eriz izes es the the ……… …………. …..d .dis istr tribu ibuti tion on of of the the body body in spa space ce [ ] (a). velocity (b).acceleration (c). Strength (d). Mass. 10. inertia tensor for a rectangular body will depends on its [ ] (a). Length (b). Breadth (c). Height (d). All the above. 11. the theore theorem m used used to to relat relate e the the inert inertia ia tens tensor or of of one one fram frame e to anothe anotherr [ ] (a). Pythagoras theorem (b). Parallel Axes theorem (c). Super position theorem (d). any of the above. 12. Newton Newton – Euler Euler formu formulat lation ion is is used used to to analyz analyze e the ……beh ……behavi avior or of the the mani manipul pulato ator. r. [ ] (a). Static (b). Dynamic (c). Kinematic (d). Kinetic. 13. Use of dynamic equations of motion of robot arm [ ] (a). in in computer ro robotic si simulation. (b). in th the design of of control equations. ©. To eval evalua uate te the the kin kinem emat atic ic stru struct ctur ure e of of rob robot ot arm. arm. (d). (d). all all the the abov above e 14. Dynamic equations of motion of robot arm allows [ ] (a). Analysis (b). Synthesis (c). Simulation (d). All the above. 15. In Lagrange – Euler Equation [ ] Where     d   ∂ L   ∂ L − * =.......... ..( i =1,2,3,......... .......L n– )Lagrangian function = KE – PE *    qi – Generalised co-ordinate dt   q i   qi ∂ ∂     (a). Velocity (Vi) (b). Acceleration (ai) (c). Torque (Ti) (d). None of the above 16. Generalization of scalar moment of inertia………………….. [ ] (a). Polar moment of inertia (b). Inertia tensor (c). Centre of mass (d). None of the above. 17. in Inertia Tensor. all the elements are……………….. [ ] (a). Ze Zeros (b). Zeros Ex Except di diagonal el elements (c). On Ones (d). Can’t say 18. Euler’s equation gives [ ] (a). Force acting on the body (b). Velocity of the body ©. Acceleration of the body (d). Torque acting on the body 19. Newton’s equation gives the relationship between [ ] (a). Torque, mass, jerk (b). Force, mass, acceleration ©. Power, force, velocity (d). Energy, mass, velocity 6

20.

Differ Different ential ial change change in the the manip manipula ulator tor can be comp compute uted d by……… by……………… ……….. [ ] (a). Jacobian (b). Inverse Jacobian (c). Any of the above (d). None of the above. 21 Trajectory planning satisfies………… [ ] a) Only Only path path constr constraint aints s b) Only Only path path spec specifi ificat cations ions c) Only Only dynami dynamic c cons constra traint ints s d) All All the the abo above ve.. 22 An N-j N-joi oint nt man manip ipul ulat ator or will will have have…… ………… …….n .num umbe berr of traj trajec ecto tori ries es.. [ ] a) N b) (N+1) c) (N-1) d) (N+2). 23 Quaternion Representation of a trajectory is generally used for [ ] a) Clos Closed ed mech mechan anic ics s b) Spec Specia iall mech mechan anic ics s c) (a) an and (b (b) d) None None of of the the abo above ve.. 24 If S is is a sca scala larr part part of of Q and and V=a V=ai+b i+bj+ j+ck ck the then n unit unit qua quate tern rnio ion n is equ equal al to to S+ ai+bj+ck Where S2+a2+b2+c2=…………… [ ] a) 0 b) a c) 1 d) 2 25 exam exampl ple e for for powe powerr tran transm smis issi sion on syst system em [ ] a) pulley b) gear c) screw d) all all the the abov above e 26 type type of actu actuat ator or use used d in in robo robott to move move siza sizabl ble e load loads s [ ] a) hydr hydra aulic ulic b) pne pneumat umatic ic c) elec electr tric ical al d) mech mechan anic ical al 27 type of actuator used in over damped applications. [ ] a) hydr hydra aulic ulic b) pne pneumat umatic ic c) elec electr tric ical al d) mech mechan anic ical al 28 type type of actu actuat ator or used used in PICK PICK and and PL PLAC ACE E robo robot. t. [ ] a) hydr hydra aulic ulic b) pne pneumat umatic ic c) elec electr tric ical al d) mech mechan anic ical al 29 the stepper motor can be operated in [ ] a) clos closed ed loo loop p mann manner er b) an ope open n loop loop man manne nerr 7

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c) (a) an and (b (b) d) none none of of the the abo above ve.. Most costly actuator [ a) hydr hydra aulic ulic b) pne pneumat umatic ic c) elec electr tric ical al d) mech mechan anic ical al The actuator which gives high positional accuracy ] a) hydr hydra aulic ulic b) pne pneumat umatic ic c) elec electr tric ical al d) mech mechan anic ical al Stepper motor works based on the principle of ] a) Minim Minimum um relu reluct ctan ance ce b) Maxi Maximu mum m reluct reluctan ance ce c) Minim Minimum um resi resist stan ance ce d) Maximu Maximum m resist resistanc ance. e. If S is a scal scalar ar par partt of Q and and vec vecto torr V=ai V=ai+b +bj+ j+ck ck the then n (S-V (S-V)) is…… is……… … of Q [ ] a) Normal b) conj conjug ugat ate e c) rec recipro iproc cal d) none none of the the abo above ve Path end points can be specified in………….. [ a) Joint Joint coco-or ordin dinat ates es b) Cartes Cartesian ian co-ord co-ordina inates tes c) (a) an and (b (b) d) none none of the the abo above ve An N-joint manipulator will have………….number of trajectory segments ] a) 3N b) 5N c) (a) an and (b (b) d) none none of the the abo above ve math mathem emat atic ical al fun funct ctio ions ns use used d in traj trajec ecto tory ry plan planni ning ng pro proble blems ms.. [ ] a) Fourier b) lap laplac lace c) poly polyno nomi mial al d) all all the the abo above ve.. Methods used in straight line trajectory planning. ] a) Cartes Cartesian ian path contro controll b) bounde bounded d deviat deviation ion joint joint path path c) (a) an and (b (b) d) none none of the the abo above ve product of two quaternion is a [ a) scalar b) vector c) quat quate ernio rnion n d) none none of the the abo above ve characteristic of Pneumatic actuator [ a) under under damp damped ed appli applicat cations ions b) fast fast move moveme ment nts s 8

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c) accu accura rate te mov movem emen ents ts d) all all the the abov above e 40 discrete motion of the manipulator possible by ] a) hydr hydra aulic ulic b) pne pneumat umatic ic c) step steppe perr mot motor or d) mech mechan anic ical al

[

PBR VISVODAYA INSTITUTE OF TECHNOLOGY AND SCIENCE, KAVALI

DEPARTMENT OF MECHANICAL ENGINEERING Class : IV B.Tech (II sem) DESCRIPTIVE TYPE V,VI,VII,VIII

UNITS:

ROBOTICS

1.

Find the manipulator manipulator Jacobian matrix J (q) (q) of the five five axis spherical co-ordinate robot. [16] 2. Explain Direct and Inverse Inverse dynamics dynamics with with a block diagram diagram applied to a simple task. [16] 3. A manipu manipulat lator or with with a singl single e link link is to rotat rotate e from from θ (0) = 300 to θ (2) = 1000 in 2 seconds. The joint velocity and acceleration are both zero at the initial and final positions. [16] (a) Determine the the co-efficients of a cubic cubic polynomial polynomial that accomplishes the motion. motion. (b) Determine the co-efficients of a quartic polynomial polynomial that accomplishes the the motion and (c) Determine the the co-efficients of a quintic quintic polynomial polynomial that accomplishes the motion. motion. 4. Under what what conditio conditions ns a hydraulic hydraulic motor motor is preferr preferred, ed, compared compared to steppe stepperr or DC servomotor. Briefly explain the functioning of a hydraulic motor. [16] 5. Find the manipulator manipulator Jacobian matrix J (q) (q) of the five five axis spherical co-ordinate robot. [16] 6. Derive Derive the expressio expression n for joint joint torques torques for a planar planar R-P robotic robotic manipul manipulator ator using using Lagranze-Euler formulation. [16] 7. An automat automated ed guided guided vehicle vehicle has to be design designed ed to aid visuall visually y disadv disadvant antage ages s people. What strategy would you adopt to avoid obstacles and path planning?[16] 8. (a) Explain various devices used as position sensors in robots. [8] (b) Discuss any any one device that that can be used as velocity sensor in robot. robot. [8] 9. Find the manipulator manipulator Jacobian matrix J (q) (q) of the five five axis spherical co-ordinate robot. [16] 10. 10. In the the re curs cursiv ive e Newt Newton on Eule Eulerr equa equati tion ons s of moti motion on refe referr rred ed to its its own own link link co ordinate frame, the matrix (iRo Ic oRi)is the inertial tensor of link i about the i th co ordinate frame. Derive the relationship relationship between between the matrix matrix and the pseudo pseudo inertica matrix Ji of the Lagrange - Euler equations of motion. [16] 11. (a) What are the conditions under which a position sensor is preferred versus encoder based systems? Where are encoders placed with respect to drive system and where are position sensors placed? Can both the systems be used on the same robot? [12] 9

(b) Why are absolute encoders preferred? 12. Consider a two-link two-link robot arm and assume that each link link is 1 m long. The robot arm is required to move from an initial position (xo, yo) = (1.96, 0.50) to a final position (xf  , yf  ) = (1.0 (1.00 0 , 0.75 0.75). ). The The init initia iall and and fina finall velo veloci city ty and and acce accele lera rati tion on are are zero zero.. Determine the co-efficients of a cubic polynomial at each joint to accomplish the motion. [16] 13. Under what condition conditions s a hydraulic hydraulic motor motor is preferred, preferred, compared to stepper stepper or DC servomotor. Briefly explain the functioning of a hydraulic motor. [16] 14. (a) Discuss robot trajectory planning? [8] (b) Explain the general guidelines guidelines for planning planning a joint joint interpolated interpolated motion trajectory. trajectory. [8] 15. (a) Explai Explain n the contr control ol loops loops using using curren currentt ampli amplifie fierr for the robot robot joint joint motio motions ns mentioning the response equations involved. [8] (b) (b) Wh What at is path path plan planni ning ng and and expl explai ain n wh why y path path plan planni ning ng is requ requir ired ed for for a robo roboti tic c system. [8] 16. (a) Explain the Lagrange Euler’s formulation for robot arm. [8] (b) Differentiate clearly clearly with reference to 2- jointed manipulator manipulator of RR RR type and LL type. [8] 17. Trajector Trajectory y planning planning and motion motion control control determines determines the type of actuator actuator required, required, explain three different systems, one with hydraulic, one with pneumatic and one with electrical actuator. Provide detailed justification. [16] 18. Explain a 3-5-3 trajectory trajectory plan to represent represent a pick and place movement movement for an assembly operation. [16] 19. Explain the different different types of actuators that that can be used for the robot robot joints. [16] 20. Distinguish Distinguish clearly between forward Newton - Euler equations equations and Forward NewtonNewtonEuler equations and backward Newton euler Equations, with a simple example.[16] 21. (a) What is path planning? Explain the need for path planning. [6] (b) Differentiate between path path planning planning and trajectory planning. [4] (c) What are the drawbacks of incremental incremental encoders? [6] 22. (a) Draw the figure of a hydraulic system of robot and show how the out put shaft velo veloci city ty is prop propor orti tion onal al to the the flow flow of the the oil oil in moto motorr-pu pump mp comb combin inat atio ion n for for a hydraulic system. [10] (b) Compare and contrast contrast hydraulic hydraulic and Electrical actuators. [6]

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