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Test 3 Scheme and Solution

Scheme

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12 views5 pages

Test 3 Scheme and Solution

Scheme

Uploaded by

rajwinnerofgalaxy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Test 3

Scheme and Solution


Q 1. Discuss the joint interpolated trajectories Carry 5 Marks,

Fig 2 Marks, Steps and constraints Explanation carry 03 marks

Total 2+3 = 05
Q 2. Develop a robot program to pick parts off a
PROGRAM PALLETISE
conveyor and load them into a pallet that is DEFINE PICK-UP=JOINTS (1,2,3,4,5)
about 240 mm from the pickup point. A DEFINE CORNER =JOINTS (1,2,3,4,5)
mechanical stop on the conveyer is used to DEFINE DROP = CO-ORDINATES (X,Y)
locate the parts in a known position for the OPENI
pick-up. The parts are to be arranged in a 3 by 4 ROW=0.0
pattern, 40 mm apart in both directions, The two 10 Y = ROW*40.0
directions of the pallet are assumed to be COLUMAN=0.0
20 X=COLUMAN*400
parallel the x and y world coordinate axes of the
DROP=CORNER+(X,Y)
robot, respectively. 10 marks APPROS PICK-UP, 50
MOVES PICK-UP
Start and define ------2 Marks, CLOSE
DEPART 240
Body -----------------5 Marks APPROS DROP,240
Logic and end --------3 Marks MOVES DROP
OPEN
DEPART 50
COLUMN=COLUMN+1
IF COLUMN LT 4 GO TO 20
Total = 2+5+3 – 10 Marks ROW=ROW+1
IF ROW LT 3 GO TO 10
END PROGRAM
Q 3. Develop a CNC part program using G and M codes for the given figure. Assume
suitable cutting parameters, tools and also prepare the process chart. 10 Marks
Sl operations Tools Tool Tool H D S F Remark
no. no. name dia
1 Profile 01 End mill 10 01 01 1500 100 G41
mm
1 Drilling 02 Drill bit 10 02 - 1000 50 G81,G8
mm 0
%
O0002; G03 X29 Y23 R13;
G21 G90 G40 G94 G01 Y30 F100;
G28 X0 Y0 Z0 G02 X55 Y30 R13;
M06 T01 G01 Y10 F100;
G43 H01 X45 Y0;
G41 D01 X0 Y0;
S1500 M03 Z5;
G00 G54 X-10 Y-10 Z5 X-10 Y-10;
G01 Z-5 F100 MO5 M09
X0 Y0; G40 G49
Y10; G28 XO YO ZO
X16; M30;
%
//Profile operation// MO5 M09
O0003; G40 G49
G21 G90 G40 G94 G28 XO YO ZO
G28 X0 Y0 Z0 //Drilling operation//
M06 T03 M06 T02
G43 H03 G43 H02
G41 D03 S1000 M03 M07
S1500 M03 G00 X-10 Y-10 Z5
G00 G54 X-10 Y-10 Z5 G01 X42 Y30 F100
G01 Z-5 F100 G98 G81 Z-5 R0.0 F50
X0 Y0; G80
Y10; G00 X-10 Y-10 Z5
X16; M05 M09
G03 X29 Y23 R13; G49
G01 Y30 F100; G28 X0 Y0 Z0
G02 X55 Y30 R13; M30
G01 Y10 F100;
X45 Y0; Process chart ------02 Marks
X0 Y0; Profile Operation-----05 Marks
Z5; Drilling Operation----03 Marks
X-10 Y-10;
Total = 02+05+03= 10 Marks

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