NOTE: Don’t reduce the diagram which is in the question paper.

RAJALAKSHMI ENGINEERING COLLEGE, CHENNAI

MECHANICAL ENGINEERING DEPARTMENT

ED 7202 – MECHANISM DESIGN AND SIMULATION

PART A 15 x 2 = 30

1. What are the kinematic analysis available?

2. What are motives for velocity analysis?

3. What is meant by complex mechanism?

4. What is meant by rubbing velocity?

5. What are the motives for acceleration analysis?

6. What are the components of acceleration analysis? Explain with figure.

7. What is meant by jerk?

8. List the Devavit – Hertenberg parameters.

9. What are the uniqueness of forward kinematics of robot solutions?

10. Write the vector loop equations?

11. What is meant by auxiliary point?

12. What is meant by position analysis?

13. What is meant by forward kinematics of robot manipulators?

14. What is meant by inverse kinematics of robot manipulators?

15. What is meant by low degree complexity and high degree complexity?

PART B 2 x 15 = 3016. Derive the vector loop equation for a four bar linkage.

17. What do you mean by Spatial RSSR Mechanism? Discuss in detail.

(OR)18. Find the linear velocities and linear accelerations of all the motion transfer points and angular velocities and angular accelerations of links 3, 4, 5 and 6 for the following figure. In that figure AOA = 40 mm, AB = 50 mm, BC = 35 mm, BD = 45 mm, CD = 25 mm, CoC = 45 mm, DoD = 50 mm, AoCo = 60 mm. Angular velocity of link 2 is 2 rad/ sec.

NOTE: Don’t reduce the diagram which is in the question paper.

RAJALAKSHMI ENGINEERING COLLEGE, CHENNAI

MECHANICAL ENGINEERING DEPARTMENT

ED 7202 – MECHANISM DESIGN AND SIMULATION

PART A 15 x 2 = 30

1. Write the vector loop equations?

2. What is meant by auxiliary point?

3. What is meant by position analysis?

4. What is meant by jerk?

5. What are the kinematic analysis available?

6. What is meant by forward kinematics of robot manipulators?

7. What is meant by inverse kinematics of robot manipulators?

8. What is meant by rubbing velocity?

9. What is meant by low degree complexity and high degree complexity?

10. What are motives for velocity analysis?

11. What is meant by complex mechanism?

12. What are the uniqueness of forward kinematics of robot solutions?

13. What are the components of acceleration analysis? Explain with figure.

14. What are the motives for acceleration analysis?

15. What is robot manipulator?

PART B 2 X 15 = 30

16. Find the linear velocities and linear accelerations of all the motion transfer points and angular velocities and angular accelerations of links 3, 4, 5 and 6 for the following figure. In that figure AOA = 40 mm, AB = 50 mm, BC = 35 mm, BD = 45 mm, CD = 25 mm, CoC = 45 mm, DoD = 50 mm, AoCo = 60 mm. Angular velocity of link 2 is 2 rad/ sec.

17. Derive the vector loop equation for a four bar linkage.

(OR)

18. What do you mean by Spatial RSSR Mechanism? Discuss in detail.