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Rat281 Basics of Robotics, December 2023

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22 views2 pages

Rat281 Basics of Robotics, December 2023

Uploaded by

shadhajannath
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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M 0800RAT28112200r ffi

RegNo.:
APJ ABDUL KALAM TECHNOLOGICAL IJNryE
Third Semester B.Tech (Minor) Degree Examination December2023

Course Code: RAT 281


Course Name: BASICS OF ROBOTICS
Max. Marks: 100 Duration:3 Hours

PART A
Answer all questions. Each question carries 3 marks Marks

l. Distinguish between robot manipulator and mobile robots. (3)

2. List out any three applications of robots in industries. (3)

J. Classiff the types of sensors used in robotics. (3)

4. Write about any two key elements of a vision sensor. (3)

Classifi different types of grippers used in manipulators (3)

6. Explain the properties of a SCARA Robot. (3)

7. Distinguish between Joint space trajectory and task space trajectory (3)

8. Enumerate the DH parameters used in robot kinematics. (3)

9. What is transfer function and what is the need of state space representation? (3)

10. What are the importance and need of analysing the robot dynamics? (3)

PART B
Answer any onefull questionfrom eoch module. Eoch question carries 11 marks
Module I
Il. a. With the help of neat diagram explain the anatomy of robot. (e)

b. Explain the role of sensors and actuators in a robot manipulator. (5)

12. a. Investigate any four non-industrial app1i5:ations of robotics. . (10)

b. Draw the work volume of a Cartesian coordinate robot. (4)

Module 2
'13. a. Illustrate the corhponents of a vision sens& system with the help ofb block (8)
'diagram.

b. List out and explain any four factors involved in selecting suitable sensors for a (6)

robot?
14. Explain any four types of electric actuators used in robotics? (14)

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0800RAT281122001

Module 3
15. With the help of neat ske?ches illustrate the different configurations of robot in (14)
detail?
16. a. consider an object held by a parallel-fingered gripper as shown in the figure. (g)
Compute the gripper force required to hold the object between the two contact
surfaces, if the weight of the object is 100 kg, the coefficient of friction p is 0.3

and acceleration due to gravity is 9.81m/s2.

Pressure

b. Explain the role of magnetic grippers in manipulators. (6)

Module 4
t7. With the help of neat sketches explain the algorithm for D-H representation of (14)
a robotic arm.

18. a. The base joint of a robot moves from 0i=30o to 0r:120o in 5 seconds following (10)
a cubic polynomial trajectory. Identifu the trajectory and compute the position

ofthe basejoint at 3 seconds.


Give one example of each for the point to point trajectories and continuous (4)
trajectories.

Moduft 5
19. a. Explain the working of PID controller for the control of a single link (g)
manipulator.
a tr
b. arm?
What are the limitations of linear controllers in controlling a robotic (6)
20. a. what the role of Euler Lagrange formulation in robot dynamics? (5)
b. Derive the dynamics equations of a I DoF Robotic arm by applying Euler (9)
Lagrange formulation .

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