HA Questions

Q.1 Draw the approximate workspace for the following robot. Assume the dimension of the base
and other parts of the structure of the robot are as shown.

Q.2 Draw the approximate workspace for the following robot. Assume the dimension of the
base and other parts of the structure of the robot are as shown.

Q.3 Draw the approximate workspace for the following robot. Assume the dimension of the base
and other parts of the structure of the robot are as shown.
Q.4 Write the correct sequence of movement that must be made in order to restore original
orientation of spherical coordinates and make it parallel to the reference frame. About what axes
are these rotations supposed to be?

Q.5 Suppose that a robot is made of a Cartesian and RPY combination of joints. Find the
necessary RPY angles to achieve the following :

 0.527  0.574 0.628 4

 0.369 0.819 0.439 6
T 
 0.766 0 0.643 9
 
 0 0 0 1

Q.6 Suppose that a robot is made of a Cartesian and Euler combination of joints. Find the
necessary RPY angles to achieve the following :

 0.527  0.574 0.628 4

 0.369 0.819 0.439 6
T 
 0.766 0 0.643 9
 
 0 0 0 1

Q.7

Q.8

Q.9
Q.10

Q.11

Q.12

Q.13
Q.14

Q.15

Q.16
Q.17

Q18
Q. 19
Q.20

Q.21 For the given specialty designed 4-DOF robot:

Q.22 For the given 3-DOF robot:

Q.23 For the given 4-DOF robot:

Q.24 Explain different sensors used in robotics to find distance and obstacles for navigation.

Q.25 Explain Inductive and capacitive proximity sensors with their mathematical model?

Q.26 It is desired to have the first joint of a 6-axis robot go from an initial angle of 50o to a final angle of 80o in 3
seconds. Calculate the coefficients for a third-order polynomial joint-space trajectory. Determine the joint angles,
velocities, and accelerations at 1, 2, and 3 seconds. It is assumed that the robot starts from rest and stops at its
destination.
Q27 It is desired to have the third joint of a 6-axis robot go from an initial angle of 20o to a final angle of 80o in 4
seconds. Calculate the coefficients for a third-order polynomial joint-space trajectory and plot the joint angles,
velocities, and accelerations. The robot starts from rest but should have a final velocity of 5 o /sec.
Q.28. The second joint of a 6-axis robot is to go from an initial angle of 20o to an intermediate angle of 80o in 5
seconds and continue to its destination of 25o in another 5 seconds. Calculate the coefficients for third-order
polynomials in joint-space. Plot the joint angles, velocities, and accelerations. Assume the joint stops at intermediate
points.
Q.29. A fifth-order polynomial is to be used to control the motions of the joints of a robot in joint-spaceFind the
coefficients of a fifth-order polynomial that will allow a joint to go from an initial angle of 0o to a final joint angle of
75o in 3 seconds, while the initial and final velocities are zero and initial acceleration and final decelerations are 10 o
/sec2.
Q30. Joint 1 of a 6-axis robot is to go from an initial angle of  i  30 0 to the final angle of  f  120 0
In seconds with a cruising velocity of 1  30 /secsec. Find the necessary blending time for a trajectory
0

with linear segments and parabolic blends and plot the joint positions, velocities, and accelerations.

Q.31 A robot is to be driven from an initial position through two via points before it reaches its final destination
using a 4-3-4 trajectory. The positions, velocities, and time duration for the three segments for one of the joints are
given below. Determine the trajectory equations and plot the position, velocity, and acceleration curves for the joint.
Q.32 A 2-DOF planar robot is to follow a straight line in Cartesian-space between the start (2, 6) and the end (12,
3) points of the motion segment. Find the joint variables for the robot if the path is divided into 10 sections. Each
link is 9 inches long.

Q.33 The 3-DOF robot shown in Figure 5.18, is to move from point (3, 5, 5) to point (3, _5, 5) along a straight line,
divided into 10 sections. Find the angles of the three joints for each intermediate point and plot the results.

Q.34 Write a path-generator system that calculates a trajectory in joint space based on sets of cubic
coefficients for each segment. It must be able to generate the multisegment path you planned in Problem 1.
A duration for the segments will be specified by the user. It should produce position, velocity, and acceleration
information at the path-update rate, which will also be specified by the user

Q.35 A motor with a rotor inertia of 0.030 Kgm2 and maximum torque of 12 Nm is connected to a
uniformly distributed arm with a concentrated mass at its end, as shown in Figure. Ignoring the
inertia of a pair of reduction gears and viscous friction in the system, calculate the total inertia felt by
the motor and the maximum angular acceleration it can develop if the gear ratio is a) 5, b) 50, c) 100.
Compare the results.
Q.36 The three-axis robot shown in Figure. is powered by geared servomotors attached to the joints
by worm gears. Each link is 22 cm long, made of hollow aluminum bars, each weighing 0.5 Kg. The
center of mass of the second motor is 20 cm from the center of rotation. The gear ratio is 1/3 in the
servomotor and 1/5 in the worm gear set. The worst case scenario for the elbow joint is when the arm
is fully extended, as shown. Calculate the torque needed to accelerate both arms together, fully
extended, at a rate of 90 rad/s2 . Assume the inertias of the worm gears are negligible.

Q37 A motor with a rotor inertia of 0.030 Kgm2 and maximum torque of 12 Nm is connected to a
uniformly distributed arm with a concentrated mass at its end, as shown in Figure. Ignoring the
inertia of a pair of reduction gears and viscous friction in the system, calculate the total inertia felt by
the motor and the maximum angular acceleration it can develop if the gear ratio is a) 5, b) 50, c) 100.
Compare the results. Assume that the two gears have 0.002 Kgm2 and 0.005 Kgm2 inertias
respectively.
Q38 The three-axis robot shown in Figure. is powered by geared servomotors attached to the joints
by worm gears. Each link is 22 cm long, made of hollow aluminum bars, each weighing 0.5 Kg. The
center of mass of the second motor is 20 cm from the center of rotation. The gear ratio is 1/3 in the
servomotor and 1/5 in the worm gear set. The worst case scenario for the elbow joint is when the arm
is fully extended, as shown. Calculate the torque needed to accelerate both arms together, fully
extended, at a rate of 90 rad/s2 . Assume the inertias of the worm gears are negligible.

Suppose the maximum torque this motor can provide is 0.9 Nm. Therefore, a new motor must be picked. Two other
motors are available, one with the inertia of 0.009 Kgm2 and torque of 0.85 Nm, one with inertia of 0.012 Kgm2 and
torque of 1 Nm. Which one would you use?

Q39 A motor with a rotor inertia of 0.030 Kgm2 and maximum torque of 12 Nm is connected to a
uniformly distributed arm with a concentrated mass at its end, as shown in Figure Estimate how much the
torque/inertia ratio of a disk motor might be if it can go from zero to 2000rpm in one millisecond, and compare it to
the motor if the gear ratio is a) 5, b) 50, c) 100.
 .
Q.40 Using a timer circuit, design a pulse generating circuit that will deliver a range of 5–500 pulses per second to a
stepper motor driver.
Q.41 If you have access to a microprocessor and electronic components such as transistors, make an H bridge and
write a control program to drive a motor in either direction or to brake it. Be mindful of the problems associated
with an H-bridge’s transistors turning on and off at inappropriate times.
Q.42 SolveCalculate the gear ratio for a Harmonic drive if NL = 100, NF = 95, N2 = 90, N3 =95.
Q.43 Write a program to generate a variable pulse stream to drive a motor with pulse-width-modulated voltages of
1, 2, 3, 4, and 5 volts for a 5-volt input.
Q44. Write a program to generate a sinusoidal pulse-width-modulated output for a constant input voltage.

Q45 Write a robot program (in a language of your choice) to pick a block up from location A
and place it in location B.
Q46 Describe tying your shoelace in simple English commands that might form the basis of a
robot program.
Q.47 Using any robot language, write a general routine for unloading an arbitrarily sized pallet.
The routine should keep track of indexing through the pallet and signal a human operator
when the pallet is empty. Assume the parts are unloaded onto a conveyor belt.
Q.48 Using any robot language, write a general routine for unloading an arbitrarily sized pallet.
The routine should keep track of indexing through the pallet and signal a human operator
when the pallet is empty. Assume the parts are unloaded onto a conveyor belt.
Q49 Design the syntax of a new robot programming language. Include ways to give duration or
speeds to motion trajectories, make I/O statements to peripherals, give commands to control
the gripper, and produce force- sensing (i.e., guarded move) commands. You can skip force
control and parallelism
Q50 . Using any capable robot programming language, write a program that employs force
control to fill a cigarette box with 20 cigarettes. Assume that the manipulator has an accuracy
of about 0.25 inch, so force control should be used for many operations. The cigarettes are
presented on a conveyor belt, and a vision system returns their coordinate