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Principle of Robotics qb

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13 views4 pages

Por A2

Principle of Robotics qb

Uploaded by

jagannathan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Sri Muthukumaran Institute of Technology

Chikkarayapuram, Near Mangadu, Chennai - 600069


Academic Year 2022 - 2023 / Odd Semester
ASSESSMENT II
Branch / Sem : Robotics/5th semester Date: 14-10-2022
Subject Code : RO8591 Marks: 70
Subject Name : Principle of Robotics Time: 2 hrs

Part-A (15x2 =30 marks)

1) What is a frame in robot?


2) What are the various laws of robotics ?
3) What is translation in a frame ?
4) Give the definition of robot as adopted by ISO?
5) Draw the robot anatomy of a manipulator?
6) How to rotate a frame. Draw a diagram.
7) Name a few joints with their symbols.
8) What are the values present in a 4x4 transformation matrix.
9) Explain the terms pitch, yaw & roll.
10) Explain the different types of end effectors.
11) Draw & mark the pitch, yaw & roll in an end effector ?
12) What do you understand from the term payload of a robot ?
13) Name some of the internal sensors of the robot.
14) Why sensors are used in robot?
15) Define the work volume of a robot.

PART -B 13x2 =26

16) a) What are the principal axes rotation. Derive its matrix & its values
or
b)What is composite transformation. Derive it final equation.

17) a) In robotic analysis, how do we infer the inversion of homogenous


transformation.
or
b) Frame {2} is rotated with respect to Frame {1} about x-axis by an angle of 600.
The position of the origin of frame {2} as seen from frame {1} is 1D2 = [7 5 7]T.
Obtain the transformation matrix 1T2 which describes frame {2} relative to frame {1}.
Also find the description of point P in frame {1} if 2P = [2 4 6]T.
Part –C 14x1 =14

18) a) Derive the values for Euler angle representation in a robot

or
b) Design the D-H Parameters for the given 2 DOF robot manipulator
Sri Muthukumaran Institute of Technology
Chikkarayapuram, Near Mangadu, Chennai - 600069
Academic Year 2022 - 2023 / odd Semester
ASSESSMENT II
Branch / Sem : Robotics/5th semester Date: 14-10-2022
Subject Code : RO8591 Marks: 70
Subject Name : Principle of Robotics Time: 2 hrs

Part A 15x2=30

1) What is fixed angle representation in a robot?


2) Define the terms sensitivity & linearity.
3) How are the three rotations about the three fixed principal axes known as?
4)What is a manipulator ? how is it used in the industries?
5) Explain euler angle representations?
6)What is equivalent angle axis representation .
7) How are frames described?
8) Write the difference between serial & parallel robots.
9)What is D-H parameters. How is it used in robotics
10) What is the difference between closed loop & open loop systems.
11) Name some rules in designing a robot.
12) What are the advantages of using a manipulator.
13) What is link twist in the design of a robot?
14) What is joint angle in a robot?
15) Define the work space of a robot.

Part B 13x2=26
16) a)Write the algorithm rules for the assigning Link-Frame assignment for a robot
or
b) Derive the value for a composite rotation matrix

17) a) Frame {2} is rotated with respect to Frame {1} about x-axis by an angle of 900.
The position of the origin of frame {2} as seen from frame {1} is 1D2 = [8 9 7]T.
Obtain the transformation matrix 1T2 which describes frame {2} relative to frame {1}.
Also find the description of point P in frame {1} if 2P = [5 8 4]T.

or
b) What is screwz & screwx transformation. Explain with a neat diagram
PART C
14x1=14

18) a) What is Denavit-Hartenberg parameters. Explain them with neat diagram of 3


joints.

Or
b) Design the D-H Parameters for the given 2 DOF robot manipulator.

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