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Code No:D8004JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD

M.Tech II - SEMESTER EXAMINATIONS, APRIL/MAY-2013

INDUSTRIAL ROBOTICS

(MECHATRONICS)

Time: 3hours Max.Marks:60Answer any five questions

All questions carry equal marks

- - -

1.a) Describe the four basic configurations of robotic manipulators and compare the relative

merits and demerits.

b) Discuss the speed capabilities and load carrying capacities of current industrial robots.

2.a) A resolver is used to indicate angular position of a rotational wrist joint. The excitationvoltage to the resolver is 24 V. The resolver is connected to the wrist joint so that a given

rotation of the output link corresponds to an equal rotation of the resolver. At a certain

moment in time, the movement of the wrist joint results in voltages across the two pairsof a stator terminals to be Vs1 = 10.0 V and Vs2= -21.82 V. Determine the angle of the

rotational joint.

b) Explain the following four basic categories of uses of sensors in industrial robots.) Safety monitoring ) Inter locks in workcell control

) Part inspection for quality control ) Position of objects in robot cell

3.a) What are the advantages of Euler angles ? Derive the resultant Eulerian rotation matrix

of Roll, pitch and yaw system.

b) Derive the matrix representing rotation about an arbitrary axis.

4. The link parameter table of a six-axis articulated robot is given below. Using the direct

Kinematic analysis find the T-matrix representing the position and orientation of the endeffector.

Table: Link parameters of a six-axis articulated robot

Axis d a

1 1d1(Constant)

0 /2

2 2 0 0 /2

3 3 0 a3 0

4 4 0 a4 0

5 5 0 0 /2

6 6 d6(Constant)

0 0

Contd2

R09

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5.a) Derive the jacobian matrix for a planner R-R robotic manipulator.

b) Develop the expressions for the motion parameters in a joint space scheme byconsidering a cubic polynomial fit.

6. Using the Lagrange Euler formulation, derive the expressions for the joint torques of a

planner R-R manipulator.

7.a) Explain in detail about imaging devices and lighting techniques of machine vision.b) Discuss about WAIT, SIGNAL and DELAY commands of robot programming.

8.a) What are the features of first, second and future generation languages?

b) Explain with the help of sketches the Robot-centered cell and In-line robot cell.

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