Download JNTUA M.Tech 2nd Sem 2016 February 9D15102 Advanced Mechanisms Question Paper

Code: 9D15102

M.Tech I Semester Regular & Supplementary Examinations February 2016
ADVANCED MECHANISMS (Machine Design)

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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.
   (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 di (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:
   

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   Fixed link (AD) = 100 mm; Input link (AB) = 30 mm
   Coupler (BC) = 40 mm; Output link (CD) = 60 mm
   Angle DAB = 60°
4. Explain the construction of Burmester curve related to guiding a body through four distinct positions.
5. State and explain the Robert’s theorem with respect to path generation.

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6. Synthesize a four-bar linkage to meet the following specifications:
   Driving link:
   Driving link:
   Driving link:
   Assume the minimum length of the link = 100 mm.

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7. (a) Explain the D-H parameters of a prismatic-revolute planar arm.
   (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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