Advanced Mechanisms M.Tech Question Paper : vardhaman.org

College : Vardhaman College Of Engineering
Degree : M.Tech
Semester : I
Subject : Advanced Mechanisms
Document type : Question Paper
Website : vardhaman.org

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Advanced Mechanisms Question Paper :

Two Year M. Tech I Semester Regular Examinations February – 2014
(Regulations: VCE-R11)
(Engineering Design)
Date : 07 February, 2014
Time : 3 Hours
Max. Marks : 60
Answer any FIVE Questions.
All Questions carry equal marks

Related / Similar Question Paper :
Vardhaman College M.Tech Theory of Elasticity & Plasticity Question Paper

All parts of the question must be answered in one place only

1. a) Define the terms related to elements of mechanism, link, joint and manipulator. 6M
b) What is Kutzback’s criterion for mobility of planar mechanisms? In what way is Gruebler’s criterion different from it? 6M

2. a) Define the term collineation axis with suitable sketch. 4M
b) Show the Bobillier construction for finding the point OA when I, A and inflection point JA are known on the ray IA. Assume the dimensions suitably where ever needed. 8M

3. a) State and prove Carter-Hall circle theorem. 6M
b) State and explain Freudenstein’s Collineation axis theorem. 6M

4. a) With a neat sketch, explain graphical synthesis of 4-bar mechanism A0A1B1B0, which guides body AB through three prescribed positions A1B1, A2B2 and A3B3. 6M
b) Explain how Burmester’s curve will be constructed for a four-bar mechanism. 6M

5. Synthesize a function generator to solve the equation 0.8 y ? x , in the interval 1? x ? 3 , with the range is divided into six intervals. Use Overlay method. 12M
6. Design and draw a four link mechanism to coordinate 3 positions of input and output links as follows:
1 2 3 ? ? 0 ,? ? 30 ,? ? 60 and 0 0 0
1 2 3 ? ? 20 ,? ? 45 ,? ? 85 . Take d=1. Use Freudenstein’s equation.

7. a) Sketch and explain the 3R PUMA manipulator, for coordinates frames based on D-H representation. Show the parameter table. 4M
b) Sketch and explain the Stanford arm RI-RI-P: RI-RI-R manipulator, for coordinate frames based on D-H representation. Show the parameter table. 8M
8. a) For the SCARA robot, give the link coordinate system with a neat sketch. 6M
b) Explain the formulation of Jacobian for planar manipulator. 6M

M. Tech I Semester Supplementary Examinations July – 2014
(Regulations: VCE-R11)
ADVANCED MECHANISMS (Engineering Design)
Date: 23 July, 2014
Time: 3 hours
Max Marks: 60
Answer any Five Questions.
All Questions carry equal marks.

All parts of the question must be answered in one place only :
1. a) Differentiate between spherical mechanisms and spatial mechanisms with example. 6M
b) Give the symbolic illustration of revolute and prismatic joints of a Robot. 6M
2. a) Define the terms inflection points and inflection circle related to kinematics of motion. 4M
b) Show the Bobillier Construction for finding the inflection point JA when I, A and OA are known on the ray IA. Assume the dimensions suitably where ever needed. 8M

3. a) State and prove Freudenstein’s collineation axis theorem. 6M
b) Discuss about polode curvature in the four bar mechanism. 6M
4. a) Explain two-position synthesis of centered slider crank – mechanism. 3M
b) Explain in detail how Burmester’s curve will be drawn for a 4-bar mechanism. 9M

5. Synthesize a function generator to solve the equation y ? x0.6 , in the interval 1? x ? 3 , with the range is divided into six intervals. Use Overlay method. 12M
6. Design and draw a four link mechanism to coordinate 3 positions of input and output links as follows:
i. 0 0 0
1 2 3 ? ? 20 ,? ? 35 ,? ? 50
ii. 0 0 0
1 2 3 ? ? 35 ,? ? 45 ,? ? 60 Take d=1. Use Freudenstein’s equation. 12M

7. a) Assign coordinate frames based on D-H representation for the SCARA type robot. 4M
b) Established link co-ordinates system for a PUMA robot with neat sketch. 8M
8. a) Explain similarity analysis in manipulator kinematics. 6M
b) Explain the formulation of Jacobian for planar manipulator. 6M

Advanced Mechanisms – 2013 :
(Engineering Design)
Time: 3 hours
Max Marks: 60
Answer any FIVE Questions.
All Questions carry equal marks

All parts of the questions must be answered in one place only :
1. a) Explain the mobility criterion for planar mechanisms and enumerate its limitation. 6M
b) What are the specific advantages of spherical mechanisms over other spatial and planar mechanisms? 6M

2. a) Explain term collineation axis and its use for finding inflection points. 3M
b) Show the Biobiller construction described with reference to the four bar mechanism shown in Figure.1, satisfies the Euler-Savory equation.
3. a) State and prove Carter hall circle theorem. 6M
b) State and derive Halls equation. 6M

4. a) What is rotocenter triangle? 3M
b) Explain in detail how Burmester’s curve will be drawn for a four bar mechanism. 9M
5. Mechanize the function Y = log10 X in the interval. 1 £ x £ 10, with the range is divided into six intervals and use overlay method. 12M
6. Design and draw a four bar mechanism, such that the crank angles required will be coordinates as follows:
f 0 30 60
X 20 45 85 12M

7. For the SCARA type robot
a) Assign coordinates frames based on D-H representation. 4M
b) Fill out the parameter table. 4M
c) Write all matrices.

8. Write short notes on any three of the following: 12M
a) Formulation of Jocobian for planar manipulator.
b) Singularity analysis.
c) D-H notation.
d) Link co-ordinates system for a PUMA robot with neat sketch.