Rr321302-robotics-and-automation

Set No. 1

Code No: RR321302

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS AND AUTOMATION (Electronics & Control Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Classify the robots based on their different configurations and discuss their applications and limitations. [16] 2. (a) Enumerate the advantages and limitations of Lead through method robot languages and Textual robot languages. (b) What is meant by dynamic stabilization of robot? Discuss briefly.

[8+8]

3. (a) Compare the electric drives and pneumatic drives for robot manipulator in respect of the following factors: i. ii. iii. iv.

Availability of component Space requirement Input power Working fluid

[8]

(b) What are the different types of servomotors used in robot? Discuss them briefly. [8] 4. (a) What is machine vision? Explain any one technique of image processing. (b) Which type of sensor is used to measure the position of the gripper accurately? Explain briefly. [8+8] 5. Discuss the basic structure of hybrid control system in the manipulator control system. [16] 6. Classify the grippers based on contacting surface. Explain any two of them. [16] 7. Explain the different techniques for finding the Inverse kinematics for any manipulator. [16] 8. (a) State characteristics of work, which promote application of robots. (b) With the help of simple sketch, explain robot centered work cell. ⋆⋆⋆⋆⋆

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[8+8]

Set No. 2

Code No: RR321302

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS AND AUTOMATION (Electronics & Control Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) How do you specify a robot? Distinguish between the accuracy and repeatability of a robot. (b) With the aid of a simple sketch, explain the work envelope of Polar robot configuration. [8] 2. (a) Explain the various capabilities and limitations of the robot languages. (b) Discuss critically Asimov?s laws of Robotics with illustration.

[8+8]

3. Name the different types of Hydraulic drives used in the robots. Describe them with the help of neat sketches. [16] 4. (a) What are the different types of image processing in the machine vision system? Explain briefly. (b) Distinguish between tactile and non-tactile sensors? Explain examples of each type. [10+6] 5. Consider the hybrid control of two-link manipulator shown in figure 5 . Both link lengths are 1. Give a detailed computational expression for each block of hybrid control system for the task of moving the manipulator to follow the flat surface at an inclination of 450 . Assume that position sensors measure the joint angles θ1 and θ2 , and that a force sensor measures the contact-force components in the XH and P YH directions of the hand coordinate frame (OH − XH YH ). Assume also that KP p = KP p I2, KP d = KP d I2 , and KF i = KF i I2 . [16]

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Set No. 2

Code No: RR321302

Figure 5 6. (a) Explain the important steps to be considered in gripper selection for handling fragile and soft objects? (b) Describe with suitable sketch the working of cam actuated gripper.

[8+8]

7. Discuss any one method to solve problem of multiple solutions for inverse kinematics problem for Robot. [16] 8. (a) State characteristics of work, which promote application of robots. (b) With the help of simple sketch, explain robot centered work cell. ⋆⋆⋆⋆⋆

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[8+8]

Set No. 3

Code No: RR321302

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS AND AUTOMATION (Electronics & Control Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. (a) How do you specify a robot? Distinguish between the accuracy and repeatability of a robot. (b) With the aid of a simple sketch, explain the work envelope of Polar robot configuration. [8] 2. (a) Explain the various capabilities and limitations of the robot languages. (b) Discuss critically Asimov?s laws of Robotics with illustration.

[8+8]

3. What are the different types of cylinders used in pneumatic drives? Describe any four pneumatic cylinders with the help of simple sketches. [16] 4. Discuss the applications and working principle of the following sensors: (a) Range sensors (b) Acoustic sensors (c) Tactile sensors.

[5+5+6]

5. What is hybrid control? Explain the hybrid control of manipulation.

[16]

6. Discuss the following types of grippers: (a) Vacuum gripper (b) Magnetic gripper (c) Gear and Rack type gripper.

[5+5+6]

7. Discuss algorithm used to solve multiple solutions for inverse kinematics of any type of robot. [16] 8. (a) How many degrees of freedom for a robot wrist are required to use in simple pick and place applications? Explain briefly. (b) Explain the concept of multiple robot and discuss the advantages of it. [8+8] ⋆⋆⋆⋆⋆

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Set No. 4

Code No: RR321302

III B.Tech Supplimentary Examinations, Aug/Sep 2008 ROBOTICS AND AUTOMATION (Electronics & Control Engineering) Time: 3 hours Max Marks: 80 Answer any FIVE Questions All Questions carry equal marks ⋆⋆⋆⋆⋆ 1. Explain different types of manipulator configurations with neat sketches.

[16]

2. Classify various teaching methods of robot and briefly discuss about each of them. [16] 3. Explain with suitable example, the single axis rotation method to find out the trajectory of end effectors. [16] 4. Explain the following for smoothing of image: (a) Neighborhood averaging (b) Image averaging method

[8+8]

5. What is passive impedance method and active impedance method? Explain them briefly. [16] 6. (a) What are the advantages and disadvantages of hydraulic grippers? (b) With the help of a neat sketch explain the principle and working of pneumatic gripper. [6+10] 7. Distinguish inverse kinematics from direct kinematics? What is the role of inverse kinematics in controlling of robots? [16] 8. (a) What are the various applications of robots in hazardous areas? Discuss them in detail. (b) Explain the concept of ?tracking window? in In-line robot work cell. [10+6] ⋆⋆⋆⋆⋆

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