Download JNTUA M.Tech 2nd Sem 2017 Feb 9D04202 Robotics Question Paper

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Code: 9D04202

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M.Tech II Semester Supplementary Examinations January/February 2017

ROBOTICS

(Common to MD and CAD/CAM)

Answer any FIVE questions

All questions carry equal marks

Max. Marks: 60

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1. What are the five major components of a robot? Explain the purpose of each.
2. Explain the kinematic equations by using homogeneous transformations.
3. Explain the following:
   1. Forward and inverse kinematics of robots.
   2. Degeneracy and dexterity.

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4. 1. Show the sketch of a spherical robot.
   2. A robot is having a rotation about the global coordinate frame Z by an angle of 300, then rotation about the global coordinate frame Y by an angle of 500, then translation about the global coordinate frame x by 10 units then give the final position of link with respect to the base of the robot after taken up the above movements.

5. The links of an RP manipulator shown in figure below have inertia tensors:

   c1₁ = 0. 0 0
   

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   0 lyy1 I0 0 0
   0 Ixx2
   0 0 Izz1 lyy2 0 0 0 Izz2 and total mass m₁ and m2. The center of mass of link 1 is located at a distance l₁from the joint 1 axis, and the center of mass of link 2 is at the variable distance d2 from the joint 1 axis. Use Lagrangian dynamics to determine the equation of motion for this manipulator.

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