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Robotics CT 1

This document contains a class test for a robotics course. It has two sections - Section A with multiple choice and fill in the blank questions worth 8 marks, and Section B with four multi-part problems worth a total of 12 marks. Section B includes problems on performing transformations on a point, drawing a link coordinate diagram and Denavit-Hartenberg parameters for a manipulator, obtaining joint variable magnitudes for an RPPR manipulator, and finding joint variable values that satisfy the given transformation and joint limits.

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Ashutosh Sharma
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55 views2 pages

Robotics CT 1

This document contains a class test for a robotics course. It has two sections - Section A with multiple choice and fill in the blank questions worth 8 marks, and Section B with four multi-part problems worth a total of 12 marks. Section B includes problems on performing transformations on a point, drawing a link coordinate diagram and Denavit-Hartenberg parameters for a manipulator, obtaining joint variable magnitudes for an RPPR manipulator, and finding joint variable values that satisfy the given transformation and joint limits.

Uploaded by

Ashutosh Sharma
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 PDF, TXT or read online on Scribd
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Department of Mechanical Engineering

School of Engineering & Technology, GGV (Central University), Bilaspur


M. Tech. (Machine Design), Second Semester (2020-21)
Subject-Robotics, Class Test-I
Time allowed: 1.5 hours, Maximum Marks: 20

Note: Section A is compulsory which carries 8 marks. In section B, attempt any two questions, each
question carries equal marks. Assume suitable data and explain with neat sketch wherever
necessary.

SECTION-A

Q.1. Choose the correct answer / Fill in the blanks. [5+3 = 8 Marks]
(a) Choose a correct answer. [5 x 1 = 5 Marks]
(i) What is the first robot developed for factory manufacturing process?
(a) Asimo (b) Handyman (c) Unimation (d) Tortoise
(ii) Position of the wrist can be obtained by
(a) Redundant axis (b) Minor axis (c) Own axis (d) Major axis
(iii) Horizontal and vertical precision is varies in
(a) Cartesian robot (b) Cylindrical robot (c) Spherical Robot (d) Articulated robot
(iv) Wrist joint normally have
(a) 1 D.O.F. (b) 2 D.O.F. (c) 3 D.O.F. (d) n D.O.F.
(v) In SCARA robot D-H Parameter twist angle is ‘π’ for
(a) First link/axis (b) Second link/axis (c) Third link/axis (d) Fourth link/axis
(b) Fill in the blanks. [3 x 1 = 3 Marks]
(i) The vectors aligned 1st axis with the yaw axis is known as …………...
(ii) Horizontal and vertical precision is decreases radially in ……………..
(iii) Rotation of 3rd axis about 𝑥𝑖 axis gives …………………………………

SECTION-B

Q.2. Solve any two questions from the following. [2 x 6 = 12 Marks]


(I) Enumerates the repeatability and accuracy. Perform a composite transformation of a point
u = 1 2 3 T which rotates π/3 about third axis and -π/2 about second axis. Show all
transformations in the coordinate system.
(II) Write down the Denavit-Hartenberg parameters for the manipulator shown in the Fig. 1 in
the form of a table and draw link coordinate diagram also find 𝑇12 .
Fig.-1

(III) For a 4-DOF, RPPR manipulator the joint link transformation matrix, with joint variables
are 𝜃1 , 𝑑2 , 𝑑3 𝑎𝑛𝑑 𝜃4 and the tool configuration matrix at a given instant is 𝑇𝐸 . Obtain the
magnitude of the each joint variable.
𝑐1 −𝑠1 0 0 1 0 0 0 1 0 0 5
𝑠 𝑐 0 0 , 𝑇2 𝜃 = 0 0 1 0 0
𝑇01 𝜃1 = 1 1
1 2 , 𝑇23 𝑑3 = 0 1 0 ,
0 0 1 0 0 −1 0 𝑑2 0 0 1 𝑑3
0 0 0 1 0 0 0 1 0 0 0 1
𝑐1 −𝑠1 0 0 −0.250 0.433 −0.866 −89.10
𝑠1 𝑐1 0 0
4
𝑇3 𝜃4 = , and 𝑇𝐸 = 0.433 −0.750 −0.500 −45.67
0 0 1 0 −0.866 −0.500 0 50.0
0 0 0 1 0 0 0 1
(IV) Find all values of joint variables. The joint displacements allowed (Joint limit) for three
joints are −1000 ≤ 𝜃1 ≤ 1000 , −300 ≤ 𝜃2 ≤ 700 and 0.05 m ≤ 𝑑3 ≤ 0.05 𝑚. take T as
−0.250 0.433 −0.866 −89.10 𝜃1 P
𝑇= 0.433 −0.750 −0.500 −45.67
d3
−0.866 −0.500 0 50.0
0 0 0 1 𝜃2
𝑎2 𝑎1

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