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Code: 9D15102
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M.Tech I Semester Supplementary Examinations August 2016
ADVANCED MECHANISMS
(Machine Design)
(For students admitted in 2012, 2013, 2014 & 2015 only)
Time: 3 hours Max. Marks: 60
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Answer any FIVE questions
All questions carry equal marks
1 (a) Derive the Kutzbach mobility equation for spatial mechanism.
(b) Prove that the rocker of a Groshoff linkage can never cross the line of frame.
2 What do you mean by inflection circle and explain the Hartmann’s method of determining the inflection circle.
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3 Determine the polode curvatures for the coupler link of a four bar mechanism with the following dimensions:
Flex link (AD) = 100 mm.
Input link (AB) = 30mm.
Coupler (BC) =40 mm.
Output link (CD) = 60 mm.
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Angle DAB = 60°.
4 Explain the synthesis of a crank-rocker mechanism for a given degree of quick return action i.e. for the prescribed value of crank angle and rocker angle.
5 (a) Write notes on Horne’s and Nelson’s Motion Atlas’ related to path generation.
(b) Explain the relative rotocenter method (two positions) for the synthesis of four bar function generator.
6 Synthesize a four-barlinkage to meet the following specifications of position, velocity and acceleration:
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| Input link | Output link | |
|---|---|---|
| Position (?) degree | 60 | 90 |
| Velocity (?) rad/sec | 5 | 2 |
| Acceleration rad/sec² | 2 | 7 |
Assume minimum length of the link = 100 mm.
7 (a) Explain the D-H parameters of a spherical arm.
(b) Sketch and explain PUMA industrial robot manipulator.
8 (a) Explain the Jacobian of the two-link revolute joined arm.
(b) Obtain the singularity of a two-link planar arm.
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