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    Pre in - Sem Exam

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    nileshcollege05
    Wireless sensor network

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    Pre in - Sem Exam

    Uploaded by

    nileshcollege05
    4 views3 pages
    Wireless sensor network

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    Pre In - sem Exam

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    Wireless sensor network

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    © All Rights Reserved
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    Download as docx, pdf, or txt
    4 views3 pages

    Pre in - Sem Exam

    Uploaded by

    nileshcollege05
    Wireless sensor network

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    K.K.

    Wagh Institute of Engineering Education and Research, Nashik

    Department of Robotics and Automation


    Test No. : I (Pre-In Sem )
    Academic Year : 2023-2024 Semester : I
    Name of Faculty : Dr. P. J. Pawar
    Subject : Robot Kinematics and Dynamics (Code : 311503 (A)) Class : TE Div :
    Maximum Marks : 30 Duration: 1 Hr Date : 2/9/2023
    Que. No. Question Marks
    1(a) Determine the degrees of freedom for the following mechanism

    F = 3(n-1)-2l-h = 2

    1(b) What do you mean by kinematic pairs? Explain with suitable examples the
    higher pair and lower pair.
    A kinematic pair is a connection between two physical entities that impose
    constraints on their relative movement 4
    Higher pair: Gears, Cam, Bearing
    Lower pair: Revolute, cylindrical, screw joints
    1(c) Synthesize a four bar mechanism to generate a function y=x 1.3 for 1  x
     5 at three precision points. Assume 1 = 400,  = 90, 1 = 800,  =
    900.
    x1 = 1.267 x2 = 3 x3 = 4.73
    y1 = 12.89 y2 = 84.88 y3 = 282.88
    1 = 36 2 = 75 3 = 114
    8
    1 = 61 2 =81.34 3 = 137
    k1 =1.037 k2 = 0.388 k3 = 0.376
    a = 132.83 b = 35 c = 128.76

    OR
    2(a) A four miter bevel planetary block has been used in a robot such that output 8
    rpm is 15. If the input rpm is 60, determine speed of the arm.
    K.K. Wagh Institute of Engineering Education and Research, Nashik

    Arm

    Input Output

    Arm Input Output


    Gears locked x x x
    Arm locked 0 (x-15) (15-x)
    x 60 15
    2(b) What do you mean by coupler curves? Explain analysis of coupler curve. 7
    3(a) Obtain the DH parameters for the robot configuration shown in Fig. below.
    Also determine the position of end effector if the link lengths are: a1=100,
    a2=80, a3 = 160 mm, and a4 = 40 mm and the joint parameters are: 1 =45,
    2 =35, d1 =20 mm.

      d r
    1 1 = 45 0 a1=100 0
    2 -90 -90 a2+d1 = 80+20=100 0
    3 2 = 35 0 a3+a4 = 200 0

    q3(b) Derive an expression for homogeneous transformation matrix for DH


    parameters.
    6
    K.K. Wagh Institute of Engineering Education and Research, Nashik

    OR
    4(a) For the robot configuration shown in Fig., use forward kinematics to
    determine position of end effector with respect to origin if 1 = 40, 2 = -
    25, 3 = 30. Consider a1=100 mm, a2=120 mm, a3=50 mm.

    10

    4(b) With neat sketch, explain the forward kinematics of spherical robot using
    3D transformation method.
    6
    CO – Course Outcomes , PO – Program Outcomes
    BL – Bloom’s (Revised )Taxonomy Levels (1- Remembering, 2- Understanding, 3 –
    Applying, 4 – Analysing, 5 – Evaluating, 6 - Creating)

    Note : i) Please map the question with CO-PO and BL


    ii) Please print the pi-chart showing the mapping of Blooms Level with marks
    Distribution as shown in following sample figure.
    iii) Please print the bar chart showing the mapping of CO with marks
    Distribution as shown in following sample figure.

    Blooms Levelwise Marks Dis- CO Wise Marks Distribution


    tribution 16 15
    4 1 14
    20% 20% 12
    12
    10
    8 7
    3 6
    20% 4
    2
    40% 2
    0
    1 2 3 4 CO 1 CO 2 CO 3

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