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- Robotics and Robot Applications - RRA
- 2017
- PYQ
**Biju Patnaik University of Technology Rourkela Odisha - BPUT**- Electronics and Communication Engineering
- B.Tech
**8826 Views**- 155 Offline Downloads
- Uploaded 1 year ago

Registration no: Total Number of Pages: 2 B.Tech PEME5305 6th Semester Regular / Back Examination 2016-17 ROBOTICS AND ROBOT APPLICATION BRANCH(S): ECE, ETC Time: 3 Hours Max Marks: 70 Q.CODE: Z252 Answer Question No.1 which is compulsory and any five from the rest. The figures in the right hand margin indicate marks. Q1 a) b) c) d) e) f) g) h) i) j) Answer the following questions: Define Robot Manipulator and end Effector? What do we really mean by Robot Degrees of freedom? What will be the Robot joint coordinate system to realize cylindrical and spherical configuration? Define a spherical Robot configuration and try to draw the workspace for a spherical robot? Using matrix configuration locate a Rigid body in a three dimensional space? What is inverse kinematics of a Robot? Write a brief note on homogenous coordinate and transformation matrix? Give the difference between Joint space Vs Cartesian space description? What do mean by parabolic blends and via points? Give some of the features of Hydraulic Actuators? (2 x 10) Q2 a) Give arm configuration, work volume and work envelope of different robotic structure? b) Define all the performance parameters like (a) Resolution (b) repeatability (C) Payload (d) Precision (5) Q3 a) A point P (7,3,2)T is attached to a frame (ɳ ,o,a) and is subjected to (5) (5) the transformations described next ,Find the coordinates of the point relative to fixed frame at the conclusion of following transformations (1) rotation by 900 about Z axis .(2) followed by 900 about ‘Y’ axis . (3) spherical robot at [3,4,7]T . Calculate the joint variables of the robot . (5) Page b) Suppose that we now desire to place the origin of the hand of a 1 Followed by translation of [ 4,-3,7]

Q4 a) From a practical point of view explain how inverse kinematics can be (4) programmed in a compute? b) What is ‘Jacobian’? Explain with an example that in what situations Jacobian may be singular? (6) Q5 a) Give a brief overview of Lagrange Euler formulation to calculate (5) Dynamic equation robot? b) What are the limitations representation? and fundamental problem with DH Q6 a) Give the difference between trajectory and path planning of a robot? (5) (5) b) It is desired to have the first joint of a six –axis robot go from initial angle of 750 in 5sec. Using a third order polynomial, calculate the joint angles at 1,2 and 3 seconds? (5) Q7 a) How do you describe a robot and what are the benefits of introducing flexibility in manufacturing? b) What are the suitable types of sensors could be used to measure the position? (5) Write short answer on any TWO: a) DH algorithm (5 x 2) b) Cartesian space trajectory planning 2 c) Potentiometer Page Q8 (5)

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## Sushant singh

1 year ago00