Download JNTUA M.Tech 1st Sem 2016 Feb Reg-Supple 9D15102 Advanced Mechanisms Question Paper

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Code: 9D15102

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M.Tech I Semester Regular & Supplementary Examinations February 2016

ADVANCED MECHANISMS

(Machine Design)

(For students admitted in 2011, 2012, 2013, 2014 & 2015 only)

Time: 3 hours

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Max Marks: 60

Answer any FIVE questions

All questions carry equal marks

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1. (a) Derive the Gruebler's equation of mobility for planar mechanisms.
   

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   (b) The off-set slider crank mechanism is required to have a stroke length of 200 mm with connecting rod 150 mm length. Determine the maximum possible length of the crank.
2. (a) State the Bobillier's theorem related to inflection circle.
   (b) Explain the analytical and graphical determination of d₁ (inflection circle) for the given conjugate points Om and Of for which the ray angle is zero i.e. Of is the centre of curvature of the path of Om.
3. Construct the circling-point curve for the coupler of the four bar mechanism with the following dimensions:
   Fixed link (AD) = 100 mm;
   

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   Input link (AB) = 30 mm
   Coupler (BC) = 40 mm;
   Output link (CD) = 60mm
   Angle DAB = 60°.
4. Explain the construction of Burmester curve related to guiding a body through four distinct positions.

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5. State and explain the Robert's theorem with respect to path generation.
6. Synthesize a four-bar linkage to meet the following specifications:
   Driving link: W2 = 10 rad/sec
   Driving link: W3 = 2 rad/sec
   Driving link: W4 = 5 rad/sec
   

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   a2 = 5 rad/sec2
   a3 = 15 rad/sec2
   a4 = 1 rad/sec2
   Assume the minimum length of the link = 100 mm.
7. (a) Explain the D-H parameters of a prismatic-revolute planar arm.
   

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   (b) Sketch and explain SCARA industrial robot manipulator.
8. (a) Explain the Jacobian of the three – link arm.
   (b) Obtain the singularity of the two – link planar arm.

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