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- Robotics and Robot Applications - RRA
- 2018
- PYQ
**Biju Patnaik University of Technology Rourkela Odisha - BPUT**- Electrical and Electronics Engineering
- B.Tech
**19099 Views**- 234 Offline Downloads
- Uploaded 1 year ago

Registration No : Total Number of Pages : 02 B.Tech. PEL6J001 6th Semester Regular Examination 2017-18 ROBOTICS & ROBOT APPLICATIONS BRANCH : EEE Time : 3 Hours Max Marks : 100 Q.CODE : C438 Answer Part-A which is compulsory and any four from Part-B. The figures in the right hand margin indicate marks. Q1 a) b) c) d) e) f) g) h) i) j) Part – A (Answer all the questions) Answer the following questions (Only one answer from the choices is correct) : What is the minimum number of DOF by which one may place or rotate a rigid body in 3D space? (i) 4 (ii) 6 (iii) 5 (iv) 2 Which type of drive system is suitable for heavy load applications? (i) Hydraulic (ii) Pneumatic (iii) Electrical (iv) Electrical stepper motors Who framed the laws of robotics? (i) John J. Leonard (ii) Melonee Wise (iii) Dieter Fox (iv) None of these Which of the following is not involved in minimum number of constraints required for a smooth motion between two points? (i) Initial position (ii) Initial acceleration (iii) Final position (iv) Initial velocity When was the first servo controlled industrial robot introduced and by whom? (i) 1960, AICRA (ii) 1968, BARA (iii) 1961, Unimation Inc. (iv) 1962, IFR Which of the following is not a DH parameter? (i) Joint twist (ii) Link length (iii) Link twist (iv) Joint angle Which one is the suitable sensor to measure positions? (i) IR sensors (ii) SONARs (iii) Potentiometer (iv) Force resistor What are the intermediate locations between the start and goal points of the trajectory called? (i) Knot points (ii) Via points (iii) Interpolation points (iv) All of these What is obtained by the difference between total kinetic energy and total potential energy of a system? (i) Jacobian function (ii) Newton-Euler function (iii) Lagrangian function (iv) Lagrange-Euler function Which of the following is not an AI technique? (i) Fuzzy logic (ii) Genetic algorithm (iii) Artificial potential field algorithm (iv) Neural Network (2 x 10)

Q2 a) b) c) d) e) f) g) h) i) j) Q3 a) b) Q4 a) Answer the following questions : How is a robot end effector specified? What do you mean by a robot? State the classification of robots. What is the physical significance of a homogenous transformation matrix? Why it is used? Explain briefly about Lagrangian mechanics. Define accuracy and repeatability of a robot. What is Manipulator Jacobian? Why it is used? Represent pure rotation about an axis. Explain the iterative Newton-Euler dynamics algorithm. What is robot kinematics? Differentiate between forward and inverse kinematics. Name the different capabilities of a robot. Part – B (Answer any four questions) How a stepper motor is different from a normal DC motor? Explain the working of a half-step stepper motor with a neat sketch. What is trajectory planning? Describe about the steps involved in trajectory planning. (2 x 10) (10) (5) What do you mean by arm configuration? Explain the four basic arm configurations with suitable diagrams. What is the evil side of growing automation? Do you believe that you could have scored better in this subject if a robot had set the question? Justify your answer. (10) Define a manipulator. Construct a 2 DOF planar manipulator arm and obtain the position and orientation of the tool holding point with respect to the base. Explain the steps used in the solution. What is a direct kinematic model? What problems would be encountered if the frames are arbitrarily assigned to develop the forward kinematic model of a manipulator? (10) What is the difference between static and dynamic analysis of a manipulator? Explain the dynamic model of a 2 DOF manipulator with suitable diagram. What do you mean by recursive Newton-Euler formulation? Explain the forward and backward iteration involved in it. (10) (10) b) Explain DH notation with a neat sketch. Derive the forward kinematics solution for a manipulator with 3 links using DH notation. Determine the combined rotation matrix for a robotic link which has a rotation of 450 about Y-axis, followed by a rotation of 1200 about Z-axis and a final rotation of 900 about X-axis. Q8 a) b) Classify pumps. Explain about each type of pump with suitable diagrams. Define direction control valves and explain its working with a neat sketch. (10) (5) Q9 a) Give the complete classification of sensors. Describe about each type of sensors used in robotics applications with suitable diagrams. Explain about Jacobian inverse and Jacobian singularity. (10) b) Q5 a) b) Q6 a) b) Q7 a) b) (5) (5) (5) (5) (5)

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