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Describe The Various Programming Modes of A Robotic System

The document contains details of a mid-semester examination for an Industrial Robotics course. It includes two parts - Part A with short answer questions worth 1.5 marks each and Part B with longer answer questions worth 3.5 marks each. Some example questions are determining forward and inverse kinematics of robotic manipulators, representing degrees of freedom for different robotic configurations, and homogenous transformations for robotic motions. The document also contains details of another mid-semester exam on Product Design for Manufacturing and Assembly, with four longer answer questions worth between 3-10 marks each related to design for various manufacturing processes like casting, forging, sheet metal working etc.

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34 views

Describe The Various Programming Modes of A Robotic System

The document contains details of a mid-semester examination for an Industrial Robotics course. It includes two parts - Part A with short answer questions worth 1.5 marks each and Part B with longer answer questions worth 3.5 marks each. Some example questions are determining forward and inverse kinematics of robotic manipulators, representing degrees of freedom for different robotic configurations, and homogenous transformations for robotic motions. The document also contains details of another mid-semester exam on Product Design for Manufacturing and Assembly, with four longer answer questions worth between 3-10 marks each related to design for various manufacturing processes like casting, forging, sheet metal working etc.

Uploaded by

govind rao
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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National Institute of Technology, Rourkela

Department of Industrial Design


Mid Semester Examination 2022-23 (Spring Session)
Subject Code: ID 3304 Subject: Industrial Robotics
Max. Marks: 30 Duration: 2hrs.
Instructions: Answer any SIX questions from each PART

Part –A (Each Question Carries 1.5 Marks)


1. Describe the various programming modes of a robotic system.
2. Explain Point-to-Point motion control and Continuous motion control of an industrial robot with suitable diagrams.
3. List the various manipulator configurations along with the corresponding workspace of each configuration.
4. Justify the interdisciplinary nature of robotics with suitable diagram.
5. Describe the architecture of a typical robotic system with neat sketch.
6. Mention ‘4-A’ applications of industrial robots in ‘4-D’ environments with suitable examples.
7. Give the classification of robots according to its locomotion ability.

Part –B (Each Question Carries 3.5 Marks)


8. Determine the forward kinematic solution to find the position and
orientation of end-effector of an 3R-Manipulator as shown in Fig.1.
Calculate the position and orientation of the same robot after
substituting 𝑙1 = 𝑙2 = 𝑙3 = 5" & 𝜃1 = 𝜃2 = 𝜃3 = 300 .

Fig.1.

9. Obtain the inverse kinematic solution to find the joint parameters of an


3R-Manipulator as shown in Fig.2. Calculate 𝜃1 𝑎𝑛𝑑 𝜃2 𝑓𝑜𝑟 the same
robot after substituting 𝑙1 = 𝑙2 = 8" 𝑓𝑜𝑟 𝑡ℎ𝑒 𝑒𝑛𝑑 −
𝑒𝑓𝑓𝑒𝑐𝑡𝑜𝑟 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 (𝑥, 𝑦) = (6.5, 10).

Fig.2

10. Draw the workspace of a 2R manipulator in actual dimension for the given robot specification as follows:
o link lengths 𝑙1 = 50𝑚𝑚. 𝑎𝑛𝑑 𝑙2 = 60𝑚𝑚.
o joints range for 𝜃1 = [00 , 300 ] and 𝜃1 = [600 , 1800 ]
11. A point auvw = (5, 3, 1) is attached to a rotating frame, the frame rotates 60 degrees about the OZ axis of the reference
frame.
o Determine the mapping matrix by representing OXYZ and OUVW frames
o Find the coordinates of the point relative to the reference frame after the rotation.
12. Determine the final homogenous transformation matrix for a rotation of 90o about the z-axis followed by rotation of -
90o about the x-axis, followed by a translation of (3, 7, 9).
13. Give a neat sketch of a 3-axis SCARA configuration. Determine the Danvit - Hartenberg parameters for the same.
14. Represent all the joints and links in the Planar parallel
manipulators shown in Fig.3. Determine the total
Degree-Of-Freedom for the robots using Grubler-
Kutzbach method. Assume the prismatic joints are
active in 3RPR manipulator.

Fig.3
National Institute of Technology, Rourkela
Department of Industrial Design
Mid Semester Examination 2022-23 (Spring Session)
Subject Code: ID ID6336 Subject: Product Design for Manufacturing and Assembly
Max. Marks: 30 Duration: 2hrs.
Instructions: Answer any FOUR questions

1.a) Describe the process for eliminating following shrinkage defects in sand casting with the following design
consideration:
A. Re-entrant angles at junctions
B. Check circle method to avoid concentration [4M]

b) A cast iron cylinder of 250 mm outside diameter, 50 mm inside diameter and 100 mm long is to be obtained by sand
casting. Design the requisite pattern assuming that the internal hole is to be finished by machining. Sketch the final
model of the pattern with actual dimension. Draw the final model of the pattern in scale 1:2 dimension.
Use the following data for various allowances to be considered:
Pattern Dimension Allowance
Shrinkage Allowance Up to 600mm 10.5mm/m
Machine Allowance Up to 150mm Bore (3mm); Surface (3mm.); Cope side (3mm)
151 to 500 Bore (6mm); Surface (5.5mm.); Cope side (7mm)
Draft External details 0.750
Internal details 10

[6M]

2.a) Explain the following design considerations to design a forging die.


A. Selection of Parting plane
B. Providing fillet and corner radii [3M]
b) Address various structural defects that may arise in ‘bulk deformation rolling process’ with suitable diagrams.
Describe the Design For Manufacturing (DFM) considerations to avoid the structural defects. [3M]
c) Explain the DFM considerations in turning and drilling operations. [4M]

3.a) Explain the process of shearing action taking place in sheet metal operations. [2M]
b) In a particular piercing operation, 20 mm holes are to be punched in a brass sheet of 3 mm thick. The maximum
shear strength of the sheet may be taken as 185 MPa.
 Design the punch and the die sizes (consider cutting land and angular clearance). Draw the die and punch in
actual dimension.
 Calculate the required punch force
 Determine the adequate stripping force [8M]

4. A symmetrical cup of circular cross section with diameter 40 mm and height 60 mm, with a corner radius of 2mm. is to
be obtained in C20 steel of 0.6 mm thickness. Consider the trim allowance as 6mm. and the maximum reductions
possible in a single draw is up to 40%. Assume the clearance 1.08mm and 1.09mm. are to be provided during first and
second draw operations respectively. Make the necessary design calculations for preparing the die for the above cup.
Sketch the punch and die in actual size for the designed drawing operations.
[10M]

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