SHRI VISHNU ENGINEERING COLLEGE FOR WOMEN

(Approved by A.I.C.T.E. & Affiliated to J.N.T.K)

Vishnupur, BHIMAVARAM 534 202

An ISO 9001-2000 Certified Institution

Tel: 08816 250864, Fax : 08816 250099

E-mail : hodmechanical@svecw.edu.inWebsite : www.svecw.edu.in

STUDENTS HAND BOOK

III B.Tech II Semester::201213

OUR MISSION

Established by

SRI VISHNU EDUCATIONAL SOCIETY

153, Sita Nilayam, Dwarakapuri Colony, Punjagutta,

HYDERABAD 500 082. Ph. No. 23352916

COURSE STRUCTURE

______________________________________________________________________________SUBJECT

T

P/D

C

______________________________________________________________________________Metrology

4

0

4

Instrumentation & Control Systems

4

0

4

Design of Machine Members II

4

0

4

Robotics

4

0

4

Heat Transfer

4

0

4

Industrial Engg. & Management

4

0

4

Metrology & Instrumentation Lab

0

3

2

Heat Transfer Lab

0

3

2

IPR & Patent - II

2

0

0

______________________________________________________________________________Total

26

6

28

______________________________________________________________________________S.NO.SUBJECTNAME OF THE STAFF MEMBERDESIGNATIONDEPT.

1MetrologyMr. N.SunilAsst.ProfME

2Instrumentation & Control SystemsMr. K. Ashok KumarAsst.ProfME

3Design of Machine Members IIDr. P. Srinivasa RajuProfessorME

4RoboticsMr. V. Sai SurendraAsst.ProfME

5Heat TransferMr. V. Lakshmi NarayanaAsst.ProfME

6Industrial Engg. & ManagementMrs. J. Swarna JyothiAsst.ProfMBA

7Metrology & Instrumentation LabMr. N.SunilAsst.ProfME

8Heat Transfer LabMr. V. Lakshmi NarayanaAsst.ProfME

9IPR & Patent - IIMr. V. Lakshmi NarayanaAsst.ProfME

METROLOGY

UNIT I

SYSTEMS OF LIMITS AND FITS: Introduction, normal size, tolerance limits, deviations, allowance, fits and their types unilateral and bilateral tolerance system, hole and shaft basis systems interchangeability and selective assembly. Indian standard Institution system British standard system, International Standard system, application of limits and tolerances for correct functioning.

UNIT II

LINEAR MEASUREMENT : Length standard, line and end standard, slip gauges calibration of the slip gauges, Dial indicator, micrometers.

MEASUREMENT OF ANGLES AND TAPERS : Different methods Bevel protractor angle slip gauges-clinometer-angle dekkor-spirit levels sine bar Sine table, rollers and spheres used to determine the tapers.

LIMIT GAUGES : Taylors principle Design of go and No go gauges, plug ring, snap, gap, taper, profile and position gauges.

UNIT III

OPTICAL MEASURING INSTRUMENTS : Tool makers microscope and its uses collimators, optical projector optical flats and their uses.

INTERFEROMETER: Interference of light, Michalesons interferometer, NPL flatness interferometer and NPL gauge interferometer

FLAT SURFACE MEASUREMENT : Measurement of flat surfaces instruments used straight edges surface plates optical flat and auto collimator.

UNIT IV

SURFACE ROUGHNESS MEASUREMENT : Differences between surface roughness and surface waviness-Numerical assessment of surface finish CLA,R, R.M.S Values Rz values, Rz value, Methods of measurement of surface finish-profilograph. Talysurf, ISI symbols for indication of surface finish.

UNIT-V

MEASUREMENT THROUGH COMPARATORS : Comparators Mechanical, Electrical and Electronic Comparators, pneumatic comparators and their uses in mass productionUNIT -VI

GEAR MEASUREMENT: Nomenclature of gear tooth ,tooth thickness measurement with Gear tooth vernier and flange micrometer, pitch measurement, total composite error and tooth to tooth composite errors, rolling gear tester, involute profile checking.

UNIT- VII

SCREW THREAD MEASUREMENT : Element of measurement errors in screw threads concept of virtual effective diameter, measurement of effective diameter, angle of thread and thread pitch, profile thread gauges.

UNIT VIII

MACHINE TOOL ALIGNMENT TESTS : Machine Tool Alignment test on lathe, milling, drilling machines.

SHRI VISHNU ENGINEERING COLLEGE FOR WOMEN :: BHIMAVARAMLESSON PLAN

COURSE: III Year B. Tech

BRANCH: Mechanical Engineering

CLASS: III/II Sem.

YEAR: 2012-13

SUBJECT: METROLOGY

PREREQUISITES :

Familiarity with concepts of manufacturing processes and industrial engineering.

COURSE OBJECTIVES:

Objective of the course is to provide students with detailed understanding of metrology, by introducing fundamental concept and industrial applications.

COURSE OUTCOMES:

A student who has met the objective of the course will be able to:

Acquiring the knowledge of metrology and its practical applications.

Analyzing the modern competitive industrial environment.

Design requirements to the science of precision measurements.

PLAN:S.NONO. OF HOURSDATETOPIC(S) PLANNEDREFERENCE (BOOK WITH PAGE NO.S)REMARKS

UNIT I

11IntroductionT1-1,T2-1

21Systems of limits and fits: Introduction, normal size, tolerance limitsT1-228, T2-261

31deviations, allowance, fits and their typesT1-232, T2-277

41unilateral and bilateral tolerance systemT1-238, T2-298

51hole and shaft basis systemsT1-242, T2-300

71Interchangeability and selective assembly.T1-247

81British standard system, International Standard system, application of limits and tolerances for correct functioning.T1-249, T2-294

UNIT II

91LINEAR MEASUREMENT:Length standard, line and end standardT1-52, T2-87

102slip gauges calibration of the slip gaugesT1-87, T2-185

112Dial indicator, micrometers.T1-104,78, T2-156

122MEASUREMENT OF ANGLES AND TAPERS: Different methodsT1-144, T2-517

131Bevel protractor, angle slip gaugesT1-146, T2-517

141clinometer-angle dekkorT1-156, 160, T2-530

151spirit levels, Sine barT1-148, T2-527

161Sine table, rollers and spheres used to determine the tapers.T1-149,150

172LIMIT GAUGES : Taylors principle Design of go and No go gauges,T1-261, T2-315

181plug ,ring, snap, gap,T1-252, T2-320

191Taper, profile and position gauges.T1-252,

UNIT III

201OPTICAL MEASURING INSTRUMENTS: Tool makers microscope and its usesT2 T2-1-788

211collimators, optical projectorT2-399

221optical flats and their uses.T2-443

231INTERFEROMETER: Interference of light, Michalesons interferometer.T1-348,354, T2-425

241NPL flatness interferometerT1-353, T2-427

251NPL gauge interferometerT1-353, T2-427

261FLAT SURFACE MEASUREMENT: Measurement of flat surfaces instruments usedT2-421

271straight edges surface platesT2-120

281Optical flat and auto collimator.T1-351, T2-443

UNIT IV

291SURFACE ROUGHNESS MEASUREMENT : Differences between surface roughness and surface wavinessT1-175, T2-460

301Numerical assessment of surface finishT1-180

311CLA,RT, R.M.S, Rz, R10 Values T1-182, T2-652

321Methods of measurement of surface finish-profilograph.T1-190

331Talysurf, ISI symbols for indication of surface finish.T1-192, T2-650

UNIT V

341Comparators Mechanical, OpticalT1-117, T2-363

351Electrical and Electronic ComparatorsT1-128, T2-374

361Pneumatic comparators and their uses.T1-131, T2-421

UNIT VI

372GEAR MEASUREMENT: Nomenclature of gear tooth , T1-287, T2-739

382Tooth thickness measurement with Gear tooth vernier and flange micrometer.T1-296, T2-741

392Pitch measurement.T1-298, T2-699

401total composite error and tooth to tooth composite errorsT1-298

411rolling gear tester, involute profile checkingT1-299, T2-751

UNIT VII 1

422SCREW THREAD MEASUREMENT: Element of measurement T1-203, T2-713

432Errors in screw threadsT1-205, T2-684

442concept of virtual effective diameter and measurement of effective diameterT1-217, T2-686

451Measurement of angle of threadT1-218

461Measurement of thread pitchT1-220

471Profile thread gauges.T1-221

UNIT VIII

482MACHINE TOOL ALIGNMENT TESTS: T1-325, T2-730

491Alignment tests on latheT1-327, T2-766

501Alignment tests on millingT1-330, T2-771

511Alignment tests on drilling machineT1-336, T2-777

TEXT BOOKS :

1. Engineering Metrology / Mahajan/ Dhanpat rai and co Publishers.

2. Engineering Metrology / R.K. Jain / Khanna Publishers.

3. Engineering Metrology / Connie Dotson / cengage learning.

REFERENCES :

1. Engineering Metrology by I C Gupta/ Dhanpat rai and co Publishers.

2. Precision engineering in manufacturing by R.L.Murthy/ New age Publishers.METROLOGY Assignment-I

1. a) Define the term Metrology as applied to Engineering Industry. State its significance. b) Draw the conventional diagram of limits and fits and explain the terms: (i) Basic size (ii) Upper deviation (iii) Lower deviation (iv) Fundamental deviation (v) Zero line.

2. a) Define fits. Describe the various types of fits in brief.

b) Explain clearly what is meant by Selective assembly and Interchangeable assembly, with Suitable examples.

3. a) Describe briefly the system of obtaining different types of fits, with suitable examples. b) Explain briefly the difference between the interchangeable manufacturing and selective assembly.

4. a) Define the term Metrology as applied to Engineering Industry. State its significance. b) Differentiate between Hole basis system and Shaft basis system of fits, with suitable examples.

5. (a) Explain the effect of engineering allowance on the different types of fit required in Engineering manufacture. (b) Discuss the effect of temperature on the application of limits and what pre- cautions required during measurements.

6. In metrology Indian system of limits use 25 fundamental deviations and 18 grades of tolerances. Explain this statement in detail.

7. (a) Describe briefly material used and the manufacture of slip gauges?

(b) What is wringing? Explain the procedure for wringing of slip gauges?

8. With reference to the metrology, define and distinguish between the terms.

(a) Precision and Accuracy

(b) Repeatability and Reproducibility

(c) Nominal size and allowance

(d) Tolerance limits and Control limit

METROLOGY

Assignment-II

1. a) What are Snap gauges? Sketch and explain the use of limit gauges in mass production. b) Describe with neat sketches : (i) Inside Micrometer and (ii)Telescopic gauge.

2. a) State and explain the Taylors Principle of Gauge Design. b) Explain the use of sine bar for measuring taper angle. What are the limitations of the sine bar.

3. a) Differentiate between Work shop Gauges and Inspection Gauges . b) Describe with neat sketches the differential screw micrometer and Depth micrometer.

4. a) Describe the method checking the angle of a taper plug gauge using rollers, micrometer and slip gauges. b) What are snap gauges? sketch and describe an adjustable snap gauge.

5. (a) To what accuracy the angles can be generated with angle blocks? Why there is a limitation on this accuracy. (b) Show the arrangement of angle gauges with neat sketches to measure i. 110 - 20 ii. 240 iii. 280 - 52 iv. 54.260 with minimum number of gauges from a set of [10, 30 , 90 , 270 , 410] [1, 3, 9, 27,] and [3, 6, 18, 38]

6. Explain the Taylors principle of limit gauging, with reference to gauging of rectan-gular holes. Discuss the effect of violating the Taylors principle?

7. Explain the method of checking the angle of a taper plug gauge using rollers,

micrometers and slip gauges. Draw neat sketch of the setup.

8. Explain, how do you determine

(a) The angle of a taper plug gauge

(b) The small end diameter using sine bar slip gauges as roller .

METROLOGY

Assignment-III

1. a) Sketch and describe the principle of operation a Tool Makers Microscope.

b) What is an optical flat? Explain how interference fringes are formed when optical flat is placed on a surface to be tested.

2. a) What is an auto collimator? Sketch and describe.

b) What are interferometers? Explain working of any one Interferometer.

3. a) By using optical flat and monochromatic light explain the procedure to determine (i) whether the given surface is flat or curved. (ii) Whether the curved surface is convex or concave.

b) What are interferometers? What are their advantages and disadvantages?

4. a) What is an Optical Flat? What are their types? State the limitations of optical flats. b) Explain working of any one Interferometer.

5. (a) What are the advantages of light standards of wave length? How it became possible?(b) Discuss the advantage of using laser beam in interferometry?

6. What are interferometers? Name the various types of interferometers? Explain any one method in detail?

7. Describe how liquid surface interferometer be used to measure flatness of a surface plate.

METROLOGY

Assignment-IV

1. a) Different applications demand different surface texture. Justify the statement.

b) Describe the principle and operation of Taylor Hobson Talysurf surface roughness

instrument.

2. a) State reasons for controlling the surface finish. b) Describe the working of a Profilograph with neat sketch.

b) Describe with a neat sketch construction and working of an instrument used for measurement of surface roughness.

4. a) Define the following in connection with surface texture assessment .

(i) Roughness (ii) Waviness

(iii) Lay (iv) Sampling length.

c) In the measurement of surface roughness, heights of 20 successive peaks and valleys were measured from a datum as follows: 35, 25, 40, 22, 35,18, 42, 25, 35,18, 42, 22, 32, 21, 37, 18, 35, 20 microns. If the measurement s were obtained over length of 20 mm, determine the C.L.A and R.M.S values of the surface.

5. Name the various numerical methods of assessment of surface finish? Explain them in detail? with an example.

6. How the Tomlinson surface recorder and Talysurf machine work? What are their relative merits?

7. (a) Describe the classification of surface roughness parameters involved in evaluation of surface finish?

(b) What are the factors affecting surface roughness? What is the necessity for controlling the surface texture?

METROLOGY

Assignment-V

1. Describe in brief the construction and working of a mechanical comparator with neat sketch.

2. What is a Comparator? State the various uses of comparators.

3. a) Staten the principle of operation of Mechanical and Optical comparators .

b) State the principle of operation of Electrical and Optical comparators.

METROLOGY

Assignment-VI

1. a) Name the important elements of thread which are required to be measured in order to determine the accuracy of screw threads. b) Describe the following methods of measuring effective diameter of the screw threads: (i) thread micrometer (ii) one wire method.

2. a) Name the various types of pitch errors found in screw threads. Describe their effects on the effective diameter. b) Explain the two wire and three wire method of measuring effective diameter of screw thread.

3. a) Name the important elements of screw threads and describe briefly the errors in these elements effect the working of the threaded elements. b) Name and describe the following methods of measuring the major diameter of external threads: (i) using ordinary micrometer (ii) Using bench micrometer.

6. With the help of sketch describe the working of thread micrometer to measure the effective diameter. Give its merits and demerits over the wire methods

7. Describe the methods to check the thread angle and flank angles of a screw thread?

METROLOGY

Assignment-VII

1. Explain with neat sketches the three wire method of measuring effective diameter of a screw thread. How does it differ from two wire method?

2. (a) Elucidate measurement method of thread angle by two ball method.

(b) How do you check the pitch or pitch errors of a screw thread using a pitch measuring machine?

3. (a) Distinguish between left hand thread and right hand thread. Sketch these threads. Give few applications of each type. (b) What are the different elements of a screw thread? What are the instruments used for the measurement of the above elements.

METROLOGY

Assignment-VIII

1. (a) Name the different alignment tests to be performed on a drilling machine and explain any two of them in detail.

(b) Describe with neat sketch the various alignment tests conducted on Lathe

2. a) Name the various instruments required for performing alignment tests on machine tools. b) Describe the following tests on shaper:

(i) Trueness and parallelism of vertical ways (ii) Straightness and flatness of the table

3. a) What is meant by alignment tests on machine tools?

Distinguish between geometrical and practical tests on machine tools.

b) Name and justify the alignment tests to be performed on a shaper.

4. Explain with neat sketch the method of checking the following in the acceptability test of drilling machine.

(a) If the spindle is running true

(b) If the table and pillar are mutually perpendicular

(c) If the spindle perpendicular to the table.

5. (a) What is meant by an alignment test on machine tools and why they are necessary?

(b) Distinguish between Alignment tests and Performance tests of a machine tool.

6. Specify with the diagrams how the following tests would be carried out on a center lathe:

(a) The straightness of the bed, horizontally and vertically.

(b) The center axis parallel to the bed. State also the permissible degree of accuracy in each case.

INSTRUMENTATION AND CONTROL SYSTEMSUNIT I

Definition Basic principles of measurement Measurement systems, generalized configuration and functional descriptions of measuring instruments examples. Dynamic performance characteristics sources of error, Classification and elimination of error.

UNIT II

Measurement of Displacement: Theory and construction of various transducers to measure displacement Piezoelectric, Inductive, capacitance, resistance, ionization and Photo electric transducers, Calibration procedures.

MEASUREMENT OF TEMPERATURE: Classification Ranges Various Principles of measurement Expansion, Electrical Resistance Thermistor Thermocouple Pyrometers Temperature Indicators..

UNIT III

MEASUREMENT OF PRESSURE: Units classification different principles used. Manometers, Piston, Bourdon pressure gauges, Bellows Diaphragm gauges. Low pressure measurement Thermal conductivity gauges ionization pressure gauges, Mcleod pressure gauge.

UNIT IV

MEASUREMENT OF LEVEL: Direct method Indirect methods capacitative, ultrasonic, magnetic, cryogenic fuel level indicators Bubbler level indicators.

FLOW MEASUREMENT: Rotameter, magnetic, Ultrasonic, Turbine flow meter, Hot wire anemometer, Laser Doppler Anemometer (LDA).

UNIT V Tachometers Electrical tachometers Stroboscope, Noncontact type of tachometer

Measurement of Acceleration and Vibration: Different simple instruments Principles of Seismic instruments Vibrometer and accelerometer using this principle.

UNIT VI

STRESS STRAIN MEASUREMENT : Various types of stress and strain measurements electrical strain gauge gauge factor method of usage of resistance strain gauge for bending compressive and tensile strains usage for measuring torque, Strain gauge Rosettes.

UNIT VII

MEASUREMENT OF HUMIDITY: Moisture content of gases, sling psychrometer, Absorption psychrometer, Dew point meter.

MEASUREMENT OF FORCE, TORQUE AND POWER- Elastic force meters, load cells, Torsion meters, Dynamometers.

UNIT VIII

ELEMENTS OF CONTROL SYSTEMS: Introduction, Importance Classification Open and closed systems ServomechanismsExamples with block diagramsTemperature, speed & position control systems.

TEXT BOOKS:1. Measurement Systems: Applications & design by D.S Kumar.

2. Mechanical Measurements / BeckWith, Marangoni, Linehard, PHI / PEREFERENCES:1. Measurement systems: Application and design, Doeblin Earnest. O. Adaptation by

Manik and Dhanesh/ TMH

2. Instrumentation and Control systems/ S.Bhaskar/ Anuradha Agencies.

3. Experimental Methods for Engineers / Holman.

SHRI VISHNU ENGINEERING COLLEGE FOR WOMEN:: BHIMAVARAM

LESSON PLAN

COURSE: IV Year B. Tech

BRANCH: Mechanical Engineering

CLASS: IV/I Sem.

YEAR: 2012-13

FACULTY NAME: K.Ashok Kumar

DESIGNATION : Asst. Prof.

SUBJECT: INSTRUMENTATION & CONTROL SYSTEMS

PREREQUISITES:

Familiarity with basics fundamentals of properties of system such as pressure, humidity, force, torque, discharge, displacement and temperature etc.

COURSE OBJECTIVE:

The overall objective of the course is to teach the basic principles of measurement of different properties of system with the help of different instruments which are associated with precision and accuracy. Specific objectives include

To acquaint students with the basic principles of measurement and measurement systems

To analyze the performance of an instrument with the help of performance characteristics

To find out and eliminate the error in an instrument by finding the sources of error

Usage of different instruments for the purpose of measuring and calibrating them.

To be specific in selecting a particular instrument for the purpose of measurement with the help of instrument properties and performance characteristics and advantages, disadvantages associated with that instrument.

COURSE OUTCOMES:

Upon completion of this course, students should

Understand the basic principles of measurement and measurement systems, generalized configurations and functional descriptions of measuring instruments

Be able to evaluate the performance of an instrument with the help of performance characteristics

Analyze different types of errors and elimination of errors

Understand various transducers to measure displacement

Be able to understand working of different types of temperature measuring instruments

Understand the direct and indirect methods of measuring the level

Have knowledge on flow measurement with the help of different instruments.

Be thorough with the measurement of speed with the help of different tachometers and stroboscopes

Understand the measurement of acceleration and vibration with the help of seismic instruments, vibrometers and accelerometers

Analyze various stress strain measuring devices

Be able to measure humidity, force torque and power with the help of different instruments

Analyze open and closed system servo mechanisms, simplify block diagrams and have knowledge on elements of control systems.

PLAN:S.NONO. OF HOURSDATETOPIC(S) PLANNEDREFERENCE (BOOK WITH PAGE NO.S)REMARKS

UNIT I

11Introduction to ICS, Syllabus discussion and planning

21Basic definitions, Basic principles of measurement, Measurement systems, Generalized measurement systemT3- 1 to 4,R4-1,R7-1 to 7

31Bourdon tube pressure gauge, Classification of instruments, CalibrationT3-5,6,7 R7-6,191

41Static performance characteristicsT3-10 t0 14,R4-51, R7-28

51Dynamic performance characteristicsT3-14 to 17,R4-54 R7-127

61Sources of error, Classification and elimination of errorT3-18 to 20,R4-36 R7-70

UNIT II

MEASUREMENT OF DISPLACEMENT

71Definition of transducer and classification of transducersT3-25,R7- 194

81Variable resistance transducer, Potentiometric transducer, Variable inductance transducerT3-27, 28

91Variable self inductance transducer, Variable mutual inductance transducer, LVDTT3-30, 31,32 R7-253

102Capacitive transducersT3-34 to 40,R7-265

111Piezoelectric transducerT3-41 R7-277

121Photoelectric transducerT3-44 R7-293

MEASUREMENT OF TEMPERATURE

131Classification, Liquid in glass thermometer, Bi-metallic thermometerT3-50, 51,54,R4-454

141Pressure filled thermometers, RTD, ThermistorT3-56, 58,61,R4-455

151Thermocouples, Thermopiles, PyrometersT3-62, 66, 67,R7-241

UNIT III (MEASUREMENT OF PRESSURE)

161Units classification different principles used, Simple ManometersT3-91 to 96,R-543

171Differential manometers, Dead weight pressure gaugeT3-96 to 99,R7-544

181Bourdan tube pressure gauge, Diaphragm pressure gauge, Bellows pressure gaugeT3-100, 101, 102,R7-558

191Low pressure measurement, McLeod Pressure gaugeT3-106,R7-581

202Thermal conductivity gauges ionization pressure gaugesT3-108 to 110,R7-587

211Problems on manometersT3-113

UNIT IV

MEASUREMENT OF LEVEL

221Classification, Direct methodsT3-117 to 119

233Indirect methodsT3-120

FLOW MEASUREMENT

241Types of flow measuring devices, Rate metersT3-127, 128 R7-712

251Rate meters Contd.T3-128 R7-713

261Rotameter, magnetic flow meterT3-134, 139 R7-734

271Ultrasonic, Turbine flow meterT3-141 R7-753,748

282Hot wire anemometer, Laser Doppler Anemometer (LDA)T3-147 R7-742

UNIT V

MEASUREMENT OF SPEED

291Classification , Mechanical TachometersT3-77

302Electrical tachometersT3-80

311Stroboscope, Noncontact type of tachometerT3-84

MEASUREMENT OF ACCELERATION AND VIBRATION

321Motion measuring instruments, Vibrometers and AccelerometersT3-159, R7-696

331Principles of Seismic instrumentsT3-162, R7- 698

341Strain gauge accelerometer, Variable resistance vibration sensor,T3-168, R7-704

351Piezoelectric accelerometer, LVDT accelerometerT3-169, R7-704,702

UNIT VI (STRESS STRAIN MEASUREMENTS)

361Various types of stress and strain measurementsT3-177

371electrical strain gauge, gauge factorT3-181

383Strain gauge circuitsT3-190 R7-625

392Strain gauge RosettesT3-197 R7-622

UNIT VII

MEASUREMENT OF HUMIDITY

401Introduction, Definitions, ClassificationT3-209,R4-674

412sling psychrometer, Absorption

psychrometerT3-211, 212 R7-871

421Dew point meterT3-215

MEASUREMENT OF FORCE,TORQUE AND POWER

431Elastic force meters, load cellsR4-266

441Torsion metersR7-653

452DynamometersR7-668

UNIT VIII (ELEMENTS OF CONTROL SYSTEMS)

461Introduction, Importance ClassificationT3-219,

471Open and closed systemsT3-223 to 225

481Examples of control systems with block diagramsT3-227

491ServomechanismT3-229

501Temperature, speed & position control systems.T3-228

TEXT BOOK:

T1. Measurement Systems: Applications & design by D.S Kumar.

T2. Mechanical Measurements / BeckWith, Marangoni, Linehard, PHI / PE

T3. Instrumentation and Control systems/ S.Sudhakar Reddy/ P.Divakara Rao/Sure Publications

REFERENCES:

R1.Measurement systems: Application and design, Doeblin Earnest. O. Adaptation by Manik and Dhanesh/ TMH

R2. Instrumentation and Control systems/ S.Bhaskar/ Anuradha Agencies.

R3. Experimental Methods for Engineers / Holman.

R4. Mechanical and Industrial Measurements / R.K. Jain/ Khanna Publishers.

R5. Instrumentation & mech. Measurements by A.K. Tayal ,Galgotia Publications.

R6. Instrumentation, measurement & analysis by B.C.Nakra & K.K.Choudhary, TMH.

R7. Mechanical Measurements /sahani.QUESTION BANK

UNIT I

1. (a) Explain the terms with respect to measurement systems:

i. Static sensitivity ii. Linearity iii. Hysteresis

(b) Discuss the response to first order instruments to sinusoidal input.

2. (a) Differentiate among Desired, Modifying and Interfering inputs.

(b) How do you eliminate the effects of interfering and modifying inputs? Explain

3. (a) What do you mean by static calibration? Differentiate between Threshold and Resolution".

(b) Draw the generalized Input- Output configuration of an Instrumentation system and Explain.

4. (a) How do you classify the Measurement Systems?

(b) What do you mean by functional elements? Explain one such scheme of dividing an instrument into

Functional elements with example

5. (a) What is a Transducer? Explain why the output of a transducer should be in electrical form?

(b) Explain briefly:

i) Static Sensitivity, ii) Threshold and Resolution.

6. Explain the dynamic response characteristics of first order instruments to step, ramp and sinusoidal Inputs.

7. Explain the static calibration procedure for measurement systems over their working range. What isThe necessity for static calibration? How is the calibration curve useful? How are bias and impression eliminated?UNIT 2

1. (a) Define the term Transducer and explain why the output of a transducer should be in electricalForm.(b) Explain the Thermo Couple laws and also their practical significance

2. (a) What do you mean by Piezo electric effect? What are the applications of piezoelectric effect? (b) Explain the principle of operation of the following devices for displacement measurement with neat Sketches: (i)LVDT and (ii) capacitive type

3. (a) What are the various ways in which variation in Capacitance principle can be used to construct Displacement transducers? Explain with neat sketches. (b) With the help of a neat sketch explain the working of an optical Pyrometer4. (a) Explain the principle of operation of the following displacement measuring transducers: i) Light Dependent Transducer (LDR) and ii) Photo Electric type.

(b) Explain the Thermo Couple laws and also their practical significance

5. (a) List electrical transducers for measurement of linear and angular displacement.

(b) Explain by means of neat sketches how wire wound and carbon film potentiometers can be used for Measurement if linear and angular displacement.

6. (a) What are pyrometers? Indicate their working principles.

(b) By means of neat sketches, explain the working of linear variable differential transformer (LVDT).

7. (a) Differentiate between rare metal thermocouples and base metal thermocouples.

(b) Design a measurement system for displacement measurement using LDR (Light dependent resistor As sensor.

8. (a) Classify inductive transducers.

(b) Explain the working of LVDT by means of neat sketches

UNIT 3

1.Explain, with neat sketches the construction and working principle of Mc Leod and Ionization gauges

2. (a) Describe the measurement of absolute and differential pressure using bellows gauges.

(b) Explain the principle of working of Pirani gauge for low pressure measurement

3. (a) Explain the working of a very high pressure measuring device (Bridgeman gauge).

(b) Enumerate the various manometers that exist and explain the working of any one manometer with Neat sketch.

4. (a) Explain the terms

i. Absolute pressure ii. Gauge pressure iii. Differential pressure

(b) Describe the construction, working and theory of a McLeod gauge for measurement of vacuum. List Their advantages and disadvantages

5. (a) Describe the construction, working and theory of a Bridgman gauge for measurement of high Pressures.

(b) Briefly explain the principle employed in manometers used for the measurement of pressure.

6. (a) Explain the measurement of pressure using U-tube manometer.

(b) Discuss the constructional features of Bourdon-tube pressure guage.

7. (a) Name a few applications of pressure measurement.

(b) What is the difference between atmospheric pressure and absolute pressure?

(c) Illustrate, pressure classification with suitable examples.

UNIT 4

1. Describe the Principle of operation construction details, advantages disadvantages and limitations of An Electromagnetic flow meter.

2. (A) Explain the working of Laser Doppler Anemometer (LDA).

(b) Describe the working of Pneumatic and Capacitor type level indicators

3. Briefly explain the Buoyancy force type and Bubbler purge type level indicators.

4. (a) What is hot wire Anemometer? Explain its working with neat sketch.

(b) Describe the working of electrical resistance and bubbler purge type level indicators

5. (a) Describe the principle of operation of Ultrasonic and electrical resistance type level indicators.

(b) With the help of a neat sketch explain the principle of operation of Turbine flow meter.

6. Explain the construction, working and applications of the following types of flow

Meters a) Magnetic flow meter (b) Turbine flow meter.

7. With neat sketch describe the principle of operation, construction, advantages and limitations of Rotameter.

8. (a) Explain the working principle of Capacitance liquid level sensor.

(b) Describe the working of a cryogenic fuel level indicator. What are its advantages and limitations?

9. (a) Explain how Doppler effect is used for measurement of flow velocities in ultrasonic flow meters.

(b) Explain the working principle of Bubbler gauge.UNIT 5

1. (a) Explain the principle of operation of AC Tachometer generator with a neat sketch.

(b) Describe the basic concept of Seismic instrument and explain how it can be used for Acceleration Measurement

2. (a) Derive an expression for the output of a seismic instrument. Indicate when the output measures the

(i) Acceleration and (ii) amplitude of the input quantity.

(b) Compare AC and DC Tachometers with neat sketches.

3. (a) With the help of neat sketches explain the working of any Two non contact type Tachometers.

(b) What is the basic difference in design and application between Vibrometer and Accelerometer.

4. (a) Describe the working of Dc tachometer generators and Stroboscopes.

(b) Why and how vibrations are measured?

5. (a) Explain the principle of seismic instrument. Derive an expression to measure velocity and

acceleration using this instrument.

(b) What are the advantages and disadvantages of centrifugal speed tachometer?

6. Explain with neat sketches the working of Mechanical Tachometers.

7. Describe the following:

(a) Working principle of Centrifugal speed tachometer

(b) Working principle of Vibration reed tachometer

(c) Revolution counters.

8. What is a seismic type velocity transducer? Explain its construction with the help of a neat diagram.How can it be used for measurement of acceleration in vibration measurements? Explain.UNIT 6

1. (a) Differentiate between Strain Gauge and Strain gauge rosette.

(b) Derive an Equation for un- balanced voltage of Wheatstone bridge and explain how the sensitivity Varies with number of arms made active.

2. (a) How do you classify Strain gauges? What do you mean by Gauge Factor?

(b) Explain the method of measuring force using Strain gauges.

3. (a) Briefly explain different methods employed to measure torque.

(b) Explain the working of transmission type dynamometer

4. (a) What do you mean by bonded and unbounded Strain gauges? Explain.

(b) Explain how bending compressive and tensile strains can be measured by strain gauges.

5. (a) List a few bonding adhesives used for bonding strain gauges to the test surface.

(b) Name the various types of strain gauges for different applications.

(c) An electric resistance strain gauge of 100 resistance and gauge factor 2 is bonded to a specimen of Steel. Calculate the change in resistance of the gauge when a tensile stress of 60MN/m 2 is applied on the specimen.

6. (a) What is a bonded strain gauge?

(b) List the main advantages and limitations of semiconductor strain gauges.

(c) Explain one method of temperature compensation using an adjacent arm compensating gauge.

7. (a) Briefly discuss on the surface preparation and bonding techniques for mounting bonded strain Gauges.

(b) Differentiate the n-type and p-type sensing elements of a semiconductor strain gauge.

(c) List the advantages and limitations of unbonded strain gauges.

8. (a) Compare the bonded and un bonded strain gauges.

(b) List the procedure to mount a strain gauge with paper backing on the surface under study.

(c) A 150 strain gauge is bonded to a steel bar which is subjected to a tensile load. Cross sectional area of the bar is 0.5104 m2 and E= 200GN/m2.If load of 60kN produces a change of 1.5 in the gauge resistance. Determine the gauge factor of the gauge.

UNIT 7

1. (a) How do you measure the moisture content of gases? Explain with a neat sketch.

(b) How do you classify dynamometers? Explain any one type of dynamometers

2. (a) Define the various terms related to humidity and explain the working of any one absorption

Hygrometer.

(b) Explain the principle of working of Load Cells using Strain gauges.

3. (a) What is gauge factor of Strain gauges? Write brief note on fixing a stain gauge.

(b) Derive an expression for the change in the output of a Wheatstone bridge circuit. How do you account for temperature compensation?

4. (a) Explain the working of Hydraulic and Pneumatic Load Cells.

(b) Explain one method of measurement of moisture content of gases.

5. Explain the constructional and working of the following:

(a) Rope brake (b) Prony brake (c) Fluid Brake

6. (a) Explain how Spring balances can be used for measurement of force. Describe their working advantages and limitations.

(b) Define the Psychometric terms:

i. Relative humidity ii. Dew point temperature iii. Wet bulb temperature.

7. (a) What are the various devices to measure force? Explain the constructional details of multi lever Type.

(b) With neat sketch explain the working principle of Strain gauge load cell.

8. With neat sketch, explain the following working principles:

(a) Pneumatic Load cell

(b) Hydraulic load cell

(c) Pendulum scale.UNIT 8

1. (a) Differentiate between Closed loop and Open loop Control systems with examples.

(b) What is a servomechanism? Explain

2. Write short notes on the following:

(a) Closed loop Control System.

(b) Transfer Function and

(c) Position control system

3. Write Short notes on:

(a) Speed control and

(b) Temperature control

4. (a) With suitable examples, bring out the advantages of closed loop systems over open loop systems

(b) Explain why negative feedback is invariably preferred in closed loop systems?

5. (a) Briefly explain the different types of control systems.

(b) Describe the working of one automatic control system used in practice. Outline functional elements of that system.

6. (a) Describe with neat sketch the open loop speed control system.

(b) Illustrate with example, explain Closed loop temperature control system

7. (a) Define the terms:

i. Block ii. Summing point iii. Branch Point

(b) Mention the application of automatic control devices in industries

(c) What are the limitations of open loop systems.

8. (a) Suggest a simple control system which automatically turns on a room lamp at dusk and turn it off in Day light. Draw the schematics and block diagram of the suggested control system.

(b) Distinguish between:

i. Position control ii. Acceleration control.DESIGN OF MACHINE MEMBERS IIUNIT I

BEARINGS : Types of Journal bearings Lubrication Bearing Modulus Full and partial bearings Clearance ratio Heat dissipation of bearings, bearing materials journal bearing design Ball and roller bearings Static loading of ball & roller bearings, Bearing life.

UNIT II

ENGINE PARTS : Connecting Rod : Thrust in connecting rod stress due to whipping action on connecting rod ends Cranks and Crank shafts, strength and proportions of over hung and center cranks Crank pins, Crank shafts.

UNIT III

Pistons, Forces acting on piston Construction Design and proportions of piston., Cylinder, Cylinder liners,

UNIT IV

Design of curved beams: introduction, stresses in curved beams, Expression for radius of neutral axis for rectangular, circular, trapezoidal and T-Section. Design of crane hooks, C clamps.

UNIT V

POWER TRANSMISSIONS SYSTEMS, PULLEYS : Transmission of power by Belt and Rope drives , Transmission efficiencies, Belts Flat and V types Ropes - pulleys for belt and rope drives, Materials Chain drives

UNIT VI

SPUR & HELICAL GEAR DRIVES : Spur gears- Helical gears Load concentration factor Dynamic load factor. Surface compressive strength Bending strength Design analysis of spur gears Estimation of centre distance, module and face width, check for plastic deformation. Check for dynamic and wear considerations.

UNIT VII

DESIGN OF POWER SCREWS : Design of screw, Square ACME , Buttress screws, design of nut, compound screw, differential screw, ball screw- possible failures.

UNIT VIII

MACHINE TOOL ELEMENTS : Levers and brackets: design of levers hand levers, foot levers, cranked lever, lever of a lever loaded safety valve- rocker arm straight, angular, design of a crank pin, brackets, hangers, wall boxes.

TEXT BOOK :

1. Machine Design, V.Bandari Tmh Publishers

2. Machine Design, S MD Jalaludin, Anuradha Publishers

3. Machine Design, Kannaiah/ Scietech.

REFERENCES :

1. Design Data hand Book, S MD Jalaludin, Anuradha Publishers

2. Machine Design / R.N. Norton

3. Data Books : (I) P.S.G. College of Technology (ii) Mahadevan

4. Mech. Engg. Design / JE Shigley

5. Machine Design R.S. Khurmi & J.S.Gupta / S.Chand Pub.SHRI VISHNU ENGINEERING COLLEGE FOR WOMEN :: BHIMAVARAM

LESSON PLAN

COURSE : B.Tech BRANCH: Mechanical Engineering

CLASS : III Year II Semester ACADEMIC YEAR: 2012-13

FACULTY NAME : Dr. P.Srinivasa Raju DESIGNATION: Professor

SUBJECT: DESIGN OF MACHINE MEMBERS-IIPREREQUISITES:

Basics Concepts of Engineering Sciences such as Physics, mathematics, Statics and Dynamics, Mechanics of solids are essential.

COURSE OBJECTIVE:

The objective of the course is to synergize forces, moments, torques, and stress and strength information to develop ability to analyze, design and/or select machine elements - with attention to safety aspect only.This course is designed with an objective to provide an overview of the concepts, procedures, analysis techniques, and application techniques necessary to design machine elements commonly found in mechanical devices and systems

COURSE OUTCOMES:

Upon completion of this course, students should be able to:

Properly select materials for machine design components.

Student will be able to use the knowledge in Statics and Strength of Materials for design of machine elements

Student will learn the concepts of failure theories and apply them in machine design.

Apply appropriate stress analysis techniques in order to effectively and safely design machine elements.

Effectively integrate machine components into an operational machine system

S.NONO. OF HOURSDATETOPIC(S) PLANNEDREFERENCE

(BOOKS WITH PAGE NO.S)REMARKS

UNIT I BEARINGS

12Types of Journal bearings , LubricationR5-962,T3-19.1

22Bearing Modulus, Full and partial bearingsR5-974,R6-449

31Clearance ratio, Heat dissipation of bearingsR5-977, T3-19.11,R6-452

42bearing materials , journal bearing designR5-968,T3-19.5

53Ball and roller bearings, Static loading of ball & roller bearings, Bearing lifeR5-1004,T3-19.16 R6-489

UNIT II ENGINE PARTS

63stress due to whipping action on connecting rod ends, Cranks and Crank shaftsR5-1161,T3-28.8,28.10 R6-883,897

72strength and proportions of over hung and center cranksR5-1170,T3-28.12

81Crank pins, Crank shaftsR5-1161,T3-28.12

UNIT III

92Pistons, Forces acting on pistonR5-1132,T3-28.2 R6-862

102Construction Design and proportions of piston.,R5-1133,T3-28.3 R6-866

112Cylinder, Cylinder liners,R5-1126

UNIT IV DESIGN OF CURVED BEAMS

122introduction, stresses in curved beams

134Expression for radius of neutral axis for rectangular, circular, trapezoidal and T-Section

142Design of crane hooks, C clamps

UNIT V POWER TRANSMISSIONS SYSTEMS, PULLEYS

151Transmission of power by Belt and Rope drivesR5-677,T3-20.1, R7-637

163Transmission efficiencies, Belts Flat and V types RopesR5-727 T3-20.2,20.13 R6-649,650, R7-640,678

173pulleys for belt and rope drives, Materials, Chain drivesR5-679,T3-20.18 R6-661

UNIT VI SPUR & HELICAL GEAR DRIVES

182Spur gears- Helical gears Load concentration factorR5-1021,1066,T3-22.2,22.17 R6-770

193Dynamic load factor. Surface compressive strength Bending strengthR5-1040 T3-22.2,22.17 R6-736

203Design analysis of spur gears Estimation of centre distance,R5-1036,T3-22.2 R6-773

214module and face width, check for plastic deformation. Check for dynamic and wear

considerationsR5-1037

UNIT VII DESIGN OF POWER SCREWS

222Design of screw, Square ACME , Buttress screws, design of nutR5-624,T3-25.1,25.12 R6-538,545, R7-808

232compound screw, differential screw, R5-669,T3-25.13 R6-549, R7-828

241ball screw- possible failures.R6-551, R7-830

UNIT VIII MACHINE TOOL ELEMENTS

253Levers and brackets: design of levers hand levers, foot levers, cranked lever,

R5-559-570,T3-18.1,18.2 R6-580,590, R7-379

263lever for lever loaded safety valve- rocker arm straight, angular,R5-572,T3-18.7 R6-594, R7-393

273design of a crank pin, brackets, hangers, wall boxes.

R5-1161,T3-28.12, R6-625,627

TEXT BOOK :

T1. Machine Design, V.Bandari Tmh Publishers

T2. Machine Design, S MD Jalaludin, Anuradha Publishers

T3. Machine Design, Kannaiah/ Scietech.

REFERENCES :

R1. Design Data hand Book, S MD Jalaludin, Anuradha Publishers

R2. Machine Design / R.N. Norton

R3. Data Books : (I) P.S.G. College of Technology (ii) Mahadevan

R4. Mech. Engg. Design / JE Shigley

R5. Machine Design R.S. Khurmi & J.S.Gupta / S.Chand Pub.R6. Machine Design Pandya & Shah

R7. Machine Design P.C.Sharma

QUESTION BANKUNIT I

1. (a) Define the following terms: i. Clearance ii. Minimum film thickness.

(b) A 75mm diameter machine shaft is to be supported at the ends. It operates continuously for 8h/day, 300days/year for 10 years. The load and speed cycle for one of the bearings is given below

2. A ball bearing having a dynamic capacity of 4500N, is successfully used in a particular application. It is found that the bearing load is increased by 25% in the modified model of the machine. If the usual life of the bearing is to be increased by 35%, determine the dynamic load capacity of the bearing in the new machine.

3.(a) What are the characteristics of a good bearing material?

(b) A ball bearing subjected to a radial load of 4000N is expected to have a satisfactory life of 12000 hours at 720r.p.m with a reliability of 95%. Calculate the dynamic load capacity of the bearing so that it can be selected from manufacturers catalogue based on reliability of 95% in a system, what is the reliability of the complete system?

4.(a) Explain the principle of hydrodynamic lubrication.

(b) Select a single row deep groove ball bearing for a radial load of 4000N and an axial load of 5000 N, operating at a speed of 1600r.p.m for an average life of 5 years at 10 hours per day. Assume uniform and steady load.

5. The load on a journal bearing is 150kN due to a turbine shaft of 250 mm diameter

running at 1800 rpm. Determine the following i) Length of bearing if the allowable bearing pressure 1.6 MPa ii) Amount of heat to be removed by the lubricant per minute if the bearing temperature is 600C and the viscosity of the oil at 600C is 20 centipoises and the bearing clearance is 0.25 mm.

6. A 310 deep groove ball bearing has a work cycle with 1000 r.p.m for one-third of the

time, 2000 r.p.m for the next one-third of the time, and 4000 r.p.m for the last one-third of the time the outer race of the bearing rotates. Assume light shock condition. The radial load is 3.5 kN and axial load is 2 kN. Determine the expected average life in hours, if the basic dynamic capacity of the bearing is 47 kN.

7. A full journal bearing of 50 mm diameter and 100 mm long has a bearing pressure of 1.4N/mm2. The speed of the journal is 900 rpm and the ratio of journal diameter to the diametral clearance is 1000. The bearing is lubricated with oil whose absolute viscosity at the operating temperature of 750C may be taken as 0.011 kg/m-s. The room temperature is 350C. Find the amount of artificial cooling required and the mass of the lubricating oil required if the difference between the outlet and inlet temperature of the oil is 100C. Take specific heat of the oil as 1850J/kg/0C.

8. The operating schedule of a ball bearing is as follows:

Radial load of 1650N at 2000rpm for 5% of life time, Radial load of 1140N at 3300rpm for 15% of life time, Radial load of 560N at 1750rpm for 35% of life time, Radial load of 445N at 2200rpm for 45% of life time, The inner ring rotates and the loads are steady. The life is to be 10 years at 2 hours per day operation. Select a suitable ball bearing.

UNIT I I

1. (a) Which type of cross section do you prefer for the main body of the connecting rod and why?

(b) Design the I-section connecting rod for a single cylinder I.C. engine using the

following specifications. Diameter of the piston=100mm, Mass of the reciprocating parts=2.25kg, Length of the connecting rod=300mm, Stroke length=125mm, Speed=1500r.p.m, Maximum explosion pressure=3.5N/mm2, Compression ratio=6, Factor of safety=7, Density of the rod material=8000kg/m3, Yield stress in compression=330MPa, Permissible tensile stress=60Mpa.

2. Design a connecting rod for an I.C engine from the following data

Piston diameter = 125mm, Stroke=150mm, Length of connecting rod=300mm, Maximum gas pressure at 5% of stroke =5N/mm2, Speed of engine =1200rpm, Mass of reciprocating parts =2kg, Factor of safety=5, Material steel =35 Ni Cr 60.

3. Design a mild steel connecting rod with an I section for a single cylinder spark

ignition engine from the following data :

Diameter of piston, D=0.104m Weight of reciprocating parts =18.2N Length of connecting rod from centre to centre=0.314m Stroke length=0.14m Speed of the engine=1500rev/min Maximum explosion pressure = 2.28MPa gauge Assume that the maximum thrust takes place at T.D.C. during the explosion stroke.

4. The connecting rod of a petrol engine is to be designed for the following data.

Piston diameter =80mm. Stroke =120mm Weight of reciprocating parts = 15N Length of the connecting rod = 240mm Speed (maximum) = 2800r.p.m. Explosion pressure corresponding to 100 of crank angle is 3MPa. Factor of safety-6 If the connecting rod is to be made of 40Cr1 steel, find the dimensions of the connecting rod.

5. Design the connection rod of I section for a single cylinder IC engine using the following specifications: Diameter of the piston = 100 mm; Mass of the reciprocating parts = 2.25 kg; Length of the connecting rod = 300 mm; Stroke length = 125 mm; Speed = 1200 rpm; Maximum explosion pressure = 3.5 N/mm2; Compression ratio = 6; Factor of safety = 5; Density of the rod material = 8000 kg/m3; Yield stress in compression = 330MPa.

6. Enumerate the design procedure for the connecting rod section considering it as a simple compression or tension member subjected to fluctuating load.

7. A crankshaft of single throw centre crank type is to be designed for a diesel engine. The crankshaft is carrying one flywheel at one end of each journal. The other specifications are as follows: Diameter of piston 200 mm Stroke of piston 300 mm Length of connecting rod 600 mm Weight of each flywheel 2 KN Distance between flywheel and its nearest journal 150 mm Speed of the engine 1000 rpm Maximum gas pressure 1 N/mm2 Maximum torque is experienced in the crankshaft when the crank angle is 300 from inner dead centre position. Permissible stress for the crankshaft material is: in bending 70 N/mm2; in shear 40 N/mm2; in bearing 8 N/mm2 Design the crankshaft.

8. Design the ISection Connection Rod for a single cylinder I.C engine using the following specifications:

Diameter of the piston = 100 mm Mass of the reciprocating parts = 2.25 kg Length of the connecting rod = 300 mm Stroke length = 125 mm Speed 1500 r.p.m Maximum explosion pressure = 3.5 N/mm2 Compression ratio = 6 Factor of safety =4 Density of the rod material = 8000 kg/m3 Yield stress in compression = 330MPa

UNIT III

1. Design a trunk type cast iron piston for an I.C. Engine from the following data:

Diameter of the Cylinder = 10cm Stroke = 15cm Maximum explosion pressure = 3.5MPa Maximum permissible tension for cast iron for the design of head thickness is 30MPa and the flexural stress for the pin may be taken from 90 to120Mpa. The gudgeon pin should be hardened and ground and should turn in phosphor bronze bushing. Bearing pressure should be limited to 20MPa. Sketch the piston inserting important dimensions of the piston with piston pin, piston ring and scraper ring in position. Check the design from heat transfer view point.

2. (a) What is the function of Skirt?

(b) What is the function of piston pin?

(c) Design an aluminum alloy piston for a single acting four stroke engine for the following data Cylinder bore = 400mm Cylinder bore = 400mm Stroke = 375mm Maximum gas pressure = 9 MPaBreak mean effective pressure = 2MPa Fuel consumption = 0.22kg/kW/hr Speed =50rev/min.

3. The following particulars relate to a slow speed oil engine working on 4-Stroke cycle : Indicated power = 15kW RPM =300 Maximum explosion pressure = 2.1MN/m2 Mean effective Pressure = 0.56MN/m2 Design (a) The suitable trunk piston and piston rings (b) The Piston and give a neat dimensioned sketch of the piston assembly, incorporating all necessary details, clearly indicating the materials used for each part.

4. Design a cast-iron cylinder for an I.C engine whose bore diameter is 80 mm and the

maximum combustion pressure is 5.5 MPa. Assume any other suitable data.

5. What are the stresses to which the piston and cylinder subjected to? Briefly explain the design procedure to design piston rod of an IC engine.

6. The over hung crank of an engine having a cylinder diameter of 250 mm and stroke

400 mm. The connecting rod is 5 times crank, the maximum explosion pressure in the

cylinder is 1.7 Mp and engine runs at 200 rpm. Assume suitable stress for the material design the-over hung crank. Also calculate the maximum stress in the crank arm whenthe crank is at 30o to the I.D.C position and the gas pressure is 0.8 Mpa. Take modulus of section for rectangular section as 0.269bt2.

UNIT IV

1. A load P=15 kN is applied on a C-clamp as shown in the figure 4. Determine the

stresses at the points A and B.

2.Determine the maximum compressive and tensile stresses in the critical section of a crane hook lifting a load of 5 kN. The dimensions of the hook are shown in the figure 4. The line of application of the load is at a distance of 80 mm from the inner fiber. (Rounding off of the corners of the cross section are not to be taken into account)

3. The section of a crane hook is a circle of 60 mm diameter. The initial radius of curvature of the hook is 80 mm. Locate the position of the neutral axis and the maximum and minimum stresses in the hook.

4. Determine the maximum stress in the frame of the 100 kN punch press as shown in the figure

5. A crane hook carries a load of 5 kN, the line of load being at a horizontal distance of 32 mm from the inside edge of a horizontal section through the center of curvature; and the center of curvature being 38 mm from the same edge. The horizontal section is a trapezium whose parallel sides are 13 mm and 26 mm and height is 32 mm. Determine the greatest tensile and compressive stresses in the hook.

6. A beam of circular section of diameter 20 mm has its center line to a radius of 50 mm. Find the intensity of maximum stresses in the beam, when subjected to a moment of 5 Nm.

7. A close circular ring made up of 20 mm diameter steel bar is subjected to a pull of 10 kN, whose line of action passes through the center of the ring. Find the maximum value of tensile and compressive stresses in the ring, if the mean diameter of the ring is 160 mm.

8. The section of a crane hook is trapezium whose inner and outer sides are 20 mm and 10 mm and depth is 25 mm. The center of curvature of the section is at a distance of 25 mm from the inside of the section and the load line is 20 mm from the same point. Find the greatest load, the hook will carry, if the maximum stress is not to exceed 70 N/mm2.

UNIT V

1. (a) Classify the chains.

(b) A roller chain operating under steady load conditions, transmits 4kW from a shaft rotating at 600rev/min to one operating at 750rev/min.

i. Determine the chain required using at least 15 teeth in the sprockets.

ii. Determine the sprocket pitch diameters.

iii. Determine the shortest advisable centre distance.

iv. Determine the number of links of chain required.

2.A V- belt drive is to be transmit 14.7 kW to a compressor. The motor speed is 1150rev/min and the compressor pulley runs at 400rev/min. Determine the size and number of belts required

3. (a) With the help of sketches, discuss about the various types of belt joints.

(b) In an open flat belt drive; the pulley diameters are 300mm and 450mm, and the corresponding angles of lap are 1600 and 2000. The smaller pulley runs at 240 r.p.m. The coefficient of friction between the pulleys and belt is 0.3. It is found that the belt is on the point of slipping when 5kW power is transmitted. To increase the power transmitted; two alternatives are suggested, viz., i. increasing the initial tension by 15%, and ii. increasing the coefficient of friction by 15%. Which of the above two methods would be more effective?

4. (a) Why the face of the pulley is crowned?

(b) Design a flat belt drive to transmit 15kW at 720rpm to a driven machine operating at 360 rpm. Assume that the belt slips over pulley by 3%.

5. Select a suitable V belt and design the drive for a wet grinder. Power is available from a 0.5 kW motor running a 750 rpm. Drum speed is to be about 100 rpm. Drive is to be compact.

6. Design a V-belt drive to the following specifications:Power to be transmitted = 75 kW Speed of driving wheel = 1440 rpm Speed of driven wheel = 400 rpm Diameter of driving wheel = 300 mm Centre distance = 2500 mm

Service = 16 hours /day

7. A flat pulley transmits 20 kW at a speed of 560 r.p.m. The pulley overhangs the nearest bearing by 200 mm. Assuming the ratio of belt tensions as 2; determine

(i) Shaft diameter (ii) pulley diameter, and (iii) cross section of eight arms.

8. A 50 kW motor running at 1000 rpm is required to drive a pump pulley at 400 rpm.

Motor pulley diameter is limited to 0.3 m. Center distance is to be around 2.5 m. Selecta suitable V belt and design the drive.

UNIT VI

1. (a) Define the following terms:

i. Helix Angle ii. Normal pitch iii. Axial pitch. iv. Virtual number of Teeth.

(b) A pair of helical gears with 30o helix angle is used to transmit 15kW at 10000 r.p.m. of the pinion. The velocity ratio is 4:1. Both the gears are to be made of hardened steel of static strength 100N/mm2. The gears are 20o stub and the pinion is to have 24 teeth. The face width may be taken as 14 times the module. Find the module and the face width from the standpoint of strength and check the gears for wear.

2. a) What is herringbone gear? State its applications.

(b) A pair of helical gear has 200 stub teeth in the diameteral plane. Helix angle is 450. The pinion rotates at 8,000rpm. And transmits 12kW. Gear ratio is 4:1.Safe static stress for the material for pinion and gear 100MPa. The BHN for the pinion 300 and that of gear 200. Find the module and face width, if the center distance is 200mm. And check the design for dynamic load and wear strength if error is 0.01mm.

3. (a) Write the expression for static strength, limiting wear load and dynamic load for helical gears and explain the various terms used.

(b) Two precision cut forged helical gears have 200 full depth involute teeth. The angle of helix is 230. Permissible static bending stress 100MPa, module 3mm, face width 500mm. The speed of rotation of pinion 900rpm.gear ratio 5:1,surface endurance strength 630MPa. Find the transmitted and wear load and state whether the design is safe.

4. Determine the safe power which can be be transmitted by a pair of helical gears. 20 degree full depth helix, having a normal module of 5mm. Both the gears are made of forged C-30 steel and have a face width of 76.2mm. The pinion speed is 2000rev/min and it has 20 teeth. The velocity ratio is to be 5:1.

5. A motor shaft rotating at 1500 rpm has to transmit 15 kW to a low speed shaft with a speed reduction of 3:1. The teeth are 14 degrees involute with 25 teeth on the pinion.Both the pinion and gear are made of steel with a maximum safe stress of 200 N/mm2. A safe stress of 40 N/mm2 may be taken for the shaft on which the gear is mounted and for the key. Design a spur gear drive to suit the above conditions. Assume starting torque to be 25% higher than the running torque.

6. A pair of helical gears are to transmit 15 kW. The teeth are 200 stub in diametral plane and have a helix angle of 450. The pinion runs at 10000 rpm and has 80 mm pitch diameter. The gear has 320 mm pitch diameter. If the gears are made of cast steel having allowable static strength of 100 N/mm2; determine a suitable module, face width from static strength considerations and check the gears for wear, given fes=618 N/mm2.

7. A pair of helical gears is to transmit 20 kW. The teeth are 200 stub in the diametral plane, and have a helix angle of 450. The pitch circle diameter of the pinion is 60 mm and operates at 5600 r.p.m. The pitch circle diameter of the gear is 240 mm. If the pinion and gear are both made of the same material, having static strength of 100 MPa, determine a suitable module and face width. Also, check the design for dynamic and wear loads.

8. Design a spur gear drive to transmit 22 kW at 900 rpm, speed reduction is 2.5. Materials for pinion and wheel are C15 steel and Cast Iron grade 30 respectively. Take pressure angle of 200 and working life of the gears as 10,000 hours.

UNIT VII

1. The mean diameter of the square threaded screw having pitch of 10mm is 50mm.

A load of 20kN is lifted through a distance of 170mm. Find the work done in lifting

the load and the efficiency of the screw, when (a) The load rotates with the screw and

(b) The load rests on the loose head which does not rotate with the screw. The external and internal diameter of the bearing surface of the loose head is 60mm and 10mm respectively. The coefficient of friction for the screw and the bearing surface may be taken as 0.08.

2. (a) Why are ISO Metric threads rarely used for the power screw while they are invariably used for fasteners

(b) The lead screw of a lathe has ACME threads of 40mm nominal diameter and 6mm pitch. The screw must exert an axial thrust of 2kN for driving the carriage. The thrust is carried on a collar with 45mm inner diameter and 90mm outer diameter. The lead screw rotates at 36 r.p.m. Determine, i. the power required to operate the screw, and ii. the efficiency of the lead screw. Take coefficient of friction for the screw thread as 0.15 and for the collar surface as 0.12.

3. (a) Sketch the different thread profiles.

(b) A sluice weighing 600kN is raised and lowered by means of two square threaded screws. The coefficient of friction between the thrust collar and screw is 0.003 and that between the screw and that between the screw and nut is 0.05. Design the screw and the nut. Assume the data if necessary.

4. A vertical square threaded screw of a 75mm nominal diameter and 10mm pitch, supports a vertical load of 50kn. It passes through the boss of a spur gear of 72 teeth, which acts as a nut. For raising or lowering the load, the spur gear is turned by means of a pinion having 24 teeth. The mechanical efficiency of the gear is 90%. The axial thrust on the screw is taken-up by a collar bearing having a mean diameter of 110mm. The coefficient of friction for the screw and nut is 0.15, and that for collar bearing is 0.12. Determine, (a) the torque applied to the pinion shaft, (b) the maximum (principal) shear stress induced in the screw, and (c) height of the nut, if the permissible bearing pressure is 12MPa.

5. Design a lead-screw and split nut for a lathe for the following specifications.

Maximum axial load = 10 KN Operating speed of nut movement = 0.3 m/min Stroke required = 1250 mm Also calculate the efficiency and the power required to drive the screw.

6. A double threaded power screw, which has ISO metric trapezoidal threads, is used to raise a load of 200 kN. The nominal diameter of the screw is 100 mm, and pitch is

12mm. The coefficient of friction at the screw threads is 0.15. Neglecting collar friction,

Determine (i) the torque required to raise the load (ii) the torque required to lower the load, and (iii) efficiency of the screw.

7. A vertical two start square threaded screw of 100 mm mean diameter and 20 mm pitch supports a vertical load of 18 kN. The nut of the screw is fitted in the hub of a gear wheel having 80 teeth which meshes with a pinion of 20 teeth. The mechanical efficiency of the pinion and gear wheel drive is 90 percent. The axial thrust on the screw is taken by a collar bearing 250 mm outside diameter and 100 mm inside diameter. Assuming uniform pressure conditions, find, minimum diameter of pinion shaft and height of nut, when coefficient of friction for the vertical screw and nut is 0.15 and that for the collar bearing is 0.20. The permissible shear stress in the shaft material is 56 N/mm2 and allowable bearing pressure is 1.4 N/mm2.

8. A screw jack carries a load of 22 kN. Assume the coefficient of friction between screw and nut as 0.15, design the screw and nut. Neglect collar friction and column action. The permissible compressive and shear stresses in the screw should not exceed 42 N/mm2 and 28 N/mm2 respectively. The shear stress in the nut should not exceed 21 N/mm2. The bearing pressure on the nut is 14 N/mm2. Determine the effort required at the handle of 200 mm length in order to raise and lower the load. What will be the efficiency of screw?

UNIT VIII

1. (a) A 3m long, 2m high and 0.4m wide lathe bed consists of two vertical walls strengthened by perpendicular or diagonal stiffness. The thickness of the walls is 60mm. while that of the stiffness is 35mm. Calculate the reduced bending rigidity of the beds having perpendicular and diagonal stiffeners.

(b) What are the functions and general requirement of spindle unit?

2. (a) What are the functions and general requirement of spindle unit?

(b) Explain the design the procedure for Spindle.

3. A lathe has two flat, CI slide ways of equal width and height half the width. While turning a 200 mm diameter work piece, the tangential, radial and axial components of the cutting force were found to be Px=1400N, Py=1600N and Pz=5000N respectively. The lathe slide ways width assuming suitable values. Cast iron slide ways can with stand a maximum pressure of 2500 kN/m2.

4. (a) What type of material is suitable for slide ways? Give some important properties

(b) Write a design procedure for the slide ways

5. What are the salient points to be considered while designing the Lathe Bed? Discuss the design procedure considering these points.

6. What are the various forces acting on the spindle of a vertical drilling machine? Explain the design procedure to with stand the various forces acting on the spindle.

7. a) What are the various factors to be considered for selecting the material for various machine elements?

b) Briefly discuss the procedure for the Lathe tail stock spindle design for strength and

rigidity.

8. What are the various forces acting on the table bed guide ways and tool guide ways of a planning machine? Discuss the design procedure to be followed for the design of

planning machine guide ways.

ROBOTICSUNIT I

Introduction: Automation and Robotics, CAD/CAM and Robotics An over view of Robotics present and future applications classification by coordinate system and control system.

UNIT II

Components of the Industrial Robotics: Function line diagram representation of robot arms, common types of arms. Components, Architecture, number of degrees of freedom Requirements and challenges of end effectors, determination of the end effectors, comparison of Electric, Hydraulic and Pneumatic types of locomotion devices.

UNIT III

Motion Analysis: Homogeneous transformations as applicable to rotation and translation problems.

UNIT IV

Manipulator Kinematics: Specifications of matrices, D-H notation joint coordinates and world coordinates Forward and inverse kinematics problems.

UNIT V

Differential transformation and manipulators, Jacobians problems.Dynamics: Lagrange Euler and Newton Euler formations Problems.

UNIT VI

Trajectory planning and avoidance of obstacles, path planning, Skew motion, joint integrated motion straight line motion Robot programming, languages and software packages.

UNIT VII

Robot actuators and Feedback components: Actuators: Pneumatic, Hydraulic actuators, electric & stepper motors. Feedback components: position sensors potentiometers, resolvers, encoders Velocity sensors.

UNIT VIII

Robot Application in Manufacturing: Material Transfer - Material handling, loading and unloading Processing - spot and continuous arc welding & spray painting - Assembly and Inspection.

TEXT BOOKS:

1. Industrial Robotics / Groover M P /Pearson Edu.

2. Robotics and Control / Mittal R K & Nagrath I J / TMH.

REFERENCES:

1. Robotics / Fu K S/ McGraw Hill.

2. An Introduction to Robot Technology, / P. Coiffet and M. Chaironze / Kogam Page Ltd. 1983 London.

3. Robotic Engineering / Richard D. Klafter, Prentice Hall

4. Robot Analysis and Intelligence / Asada and Slow time / Wiley Inter-Science.

5. Introduction to Robotics / John J Craig / Pearson Edu.

6. Robot Dynamics & Control Mark W. Spong and M. Vidyasagar / John Wiley & Sons (ASIA) Pte Ltd.SHRI VISHNU ENGINEERING COLLEGE FOR WOMEN :: BHIMAVARAM

LESSON PLAN

COURSE : B.Tech BRANCH: Mechanical Engineering

CLASS : III Year II Semester ACADEMIC YEAR: 2012-13

FACULTY NAME : V.Sai Surendra DESIGNATION: Assistant Professor

SUBJECT: ROBOTICSPrerequisites:Familiarity with concepts of Kinematics & Dynamics of Machinery, Theory of Machines and Basic Mathematics.

Course Objectives:The objective of the course is to teach the basic fundamentals of robotics with emphasis on the underlying theory, assumptions, and simulating issues as well as providing hands on experience using Working Model 2D to model, analyze and prototype a robotic system. The following are the main objectives of the present course of study Define and distinguish mechanization, automation, and robotics. Discuss the major components of a robot

Distinguish advantages of electrical, pneumatic, and hydraulic systems

Describe various types of sensors and the significance

Describe the role of typical input and output devices in an automated system

Describe the role/advantages of robots in industry

Recognize most common uses of robots in industry

Describe diversity of applications of robots

Course Outcomes:Upon completion of this course, students should:

Understand the mathematical and physical principles underlying robot manipulation.

Be able to solve small problems with Working Model 2D and compare with classical solution.

Be able to answer what a robot is, why and how robots developed, types of industrial robots, parts of the robot, and issues surrounding robots.

Plan:S.NONO OF HRSDATETOPIC(S) PLANNEDREFERENCE

(BOOKS WITH PAGE NUMBERS)REMARKS

11Introduction: Automation and roboticsT1-15,T3-3

22CAD/CAM and Robotics

An over view of RoboticsT1-16-18

33Present and Future applicationsT1-34,

T3-46,501,517

44Classification by coordinate system and control systemT1-16

55Components of the Industrial RoboticsT120

66Function line diagram representation of robot armsT1-25

77Common types of armsT1-25

88Components, ArchitectureT1-20

99Number of DOF Requirements and challenges of end effectorsT3-43,116

1010Determination of the end effectorsT3-43,116

1111Comparison of Electric, Hydraulic and Pneumatic types of locomotion devicesT1-192

1212Assignment A1 discussion

1313Motion AnalysisT1-43

1414Homogeneous transformations as applicable to translationT1-53, T3-94

1515Homogeneous transformations as applicable to translationT1-53, T3-94

1616Homogeneous transformations as applicable to rotationT1-54, T3-94

1717Homogeneous transformations as applicable to rotationT1-54,T3-94

1818Example Problems

1919Example Problems

2020Manipulator KinematicsT1-43

2121Specifications of matricesT1-52

2222D-H notation joint coordinates and world coordinatesT1-81

2323Example Problems

2424Forward and inverse kinematicsT1-67-81

2525Forward and inverse kinematicsT1-67-81

2626Forward and inverse kinematicsT1-67-81

2727Forward and inverse kinematicsT1-67-81

2828Example Problems

2929Example Problems

3030Assignment A2 discussion

3131Differential transformation and manipulatorsT1-109

3232JacobiansT1-111

3333Example problems

3434Example problems

3535Dynamics:T1-133

3636Lagrange Euler formationT1-134

3737Newton Euler formationT2-142-147

3838Example Problems

3939Example Problems

4040Example Problems

4141Example Problems

4242Assignment A3 discussion

4343Trajectory planning and

avoidance of obstaclesT1-161

4444Path planningT1-161

4545Skew motion, joint integrated motion

straight line motionT1-179

4646Robot programming, languagesT1-30

T3-189,214

4747Software package- Working model 2D

4848PRACTICAL 1

4949PRACTICAL 2

5050PRACTICAL 3

5151Robot actuators and Feedback componentsT1-187

5252Actuators: Pneumatic, Hydraulic actuatorsT1-192,198

5353Electric & stepper motorsT1-200,205

5454Feedback components: position sensors potentiometersT1-233

5555Resolvers, encoders Velocity sensorsT1-237,242,243

5656Robot Application in ManufacturingT3-375,376

5757Material Transfer - Material handlingT3-375,376

5858loading and unloading- ProcessingT3-382

5959spot and continuous arc weldingT3-393,396

6060spray paintingT3-375,376

6161Assembly and InspectionT3-416

6262Revision

6363Revision

Additional Topics (Not included in Syllabus)

Solving problems using Working model 2D software:

PRACTICAL 1: Forward and inverse kinematics

PRACTICAL2: Motion AnalysisPRACTICAL3: Path planningAssignments:

A1 - Automation and robotics, Components of the Industrial Robotics

A2 - Motion Analysis, Manipulator Kinematics, Differential transformation and manipulators

A3 - Robot actuators and Feedback components, Robot Application in Manufacturing

TEXT BOOK:

T1. Introduction to robotics Analysis,systems,Applications/ Saeed B. Niku/ PHI

T2. Robotics: control, sensing, vision and intelligence by K.S Fu,R.C Gonzalez,C.S.G.Lee.

T3. Industrial Robotics by groover.QUESTION BANK

UNIT I

1. (a) Write the homogeneous transformation matrix for a rotation of 900 about the z-axis, followed by a rotation of 900 about the x-axis, followed by a translation of (3, 7, 9).

(b) Suppose that instead of a frame, a point P = (3; 5; 7)T in space was translated a distance of d = (2; 3; 4)T. Find the new location of the point relative to the reference frame

2. (a) What are the functions of a resolver? Explain with neat sketch.

(b) What are the functions of oa potentiometer? Explain with neat sketch.

3. (a) What are the functions of a resolver? Explain with neat sketch.

b) What are the functions of oa potentiometer? Explain with neat sketch

4. (a) What are the features of Robot in Material handling? Explain.

(b) What are the problems for Robots in Arc welding?

5. (a) Define industrial automation. Describe different types of industrial automation.

(b) Classify robots based on coordinate system and give examples.

6. (a) Define a robot. What are the present day applications of robot?

b) Explain programmable automation and compare it with flexible automation.

7. (a) Give classification of robots based on control system.

(b) Describe fixed automation and explain its relationship with programmable automation as a function of product variety and production volume.

8. (a) What is flexible automation? Explain.

(b) What are different types of robots according to coordinate system and describe their features.

UNIT II

1. (a) Give line diagram of a polar coordinate robot and show the associated degrees of freedom and work volume.

b) Write short notes on

(i) Adhesive grippers (ii) robot drive system

2. (a) Give line diagram of a Cartesian robot indicating various joints and their relative motions. Determine the total degrees of freedom of the robot. Show its work volume.

b) Describe about vacuum grippers and Magnetic grippers.3. (a) Explain different types of gripper mechanisms used in mechanical grippers.

(b) Define Degrees of freedom. Give line diagram of a cylindrical robot indicating the relative motions of its joints. Determine its total degrees of freedom.

4. (a) What is a gripper used in robots? What are the considerations to be made in the selection and design of grippers?

(b) What are the different types of joints used in robots? Give the degrees of freedom associated with each joint.

5. (a) What are the functions of a resolver? Explain with neat sketch.

(b) What are the functions of oa potentiometer? Explain with neat sketch.

6. (a) Discuss the common types of motion that a robot manipulator can make in traveling from point to point.

(b) Determine the time required for each joint of a three - axis RRR manipulator to travel the skew motion: Joint 1 : 300, Joint 2 : 600 and Joint 3 : 800. All joints travel at a rotational velocity of 300/s. Neglect the e_ects of acceleration and deceleration

7. (a) Discuss about the Jacobians in the force domain.

(b) Explain the determination of Jacobians with respect to frames attached to different links, when the Jacobian with respect to base frame is given

UNIT III

1. (a) Discuss the common types of motion that a robot manipulator can make in traveling from point to point.

b) Determine the time required for each joint of a three - axis RRR manipulator to travel the skew motion: Joint 1: 300, Joint 2: 600 and Joint 3: 800. All joints travel at a rotational velocity of 300/s. Neglect the effects of acceleration and deceleration

2. (a) Discuss the common types of motion that a robot manipulator can make in traveling from point to point.

b) Determine the time required for each joint of a three - axis RRR manipulator to travel the skew motion: Joint 1 : 300, Joint 2 : 600 and Joint 3 : 800. All joints travel at a rotational velocity of 300/s. Neglect the e_ects of acceleration and deceleration

3. (a) Explain the Design considerations of gripper selection.

(b) Explain the important factors that have to be considered in determining the required grasping force

4. (a) Discuss about the Jacobians in the force domain.

(b) Explain the determination of Jacobians with respect to frames attached to di_erent links, when the Jacobian with respect to base frame is give

5. (a) For the following rotation matrix determine the determine axis of rotation and the angle of rotation about the same axis. (b) Find the transformation matrices for the following operations on the point 2i -5j -3k . i) Rotate 60o about x-axis and then translate 5 units along y-axis.

ii) Translate -2 units along y-axis and rotate 45o about x-axis.

iii) Translate 6 units along x-axis and rotate 45o about z-axis.6. (a) State and prove the properties of a rotation matrix.

(b) Determine a composite rotation matrix for the following sequence of rotations.

i) Rotation of angle about x axis

(ii) Rotation of angle about y axis

(iii) Rotation of angle about z axis7. (a) Find the transformation matrices for the following operations on the point 4 i

+5j -2k.

i) Rotate 60o about x-axis and then translate -3 units along y-axis.

ii) Translate 6 units along y-axis and rotate 30o about x-axis.

(b) Obtain the rotation matrix corresponding to the set of Euler angles with respect

to fixed XZX axes

8. (a) Obtain the rotation matrix corresponding to the set of Euler angles with respect to the fixed ZYX axes

(b) Find the transformation matrices for the following operations on the point 5i -

3j +8k .

i) Rotate 30o about x-axis and then translate 2 units along y-axis.

ii) Translate -2 units along y-axis and rotate 45o about x-axis.

iii) Translate 6 units along y-axis and rotate 45o about z-axis.4. Obtain the D-H link parameters for the three-dimensional three degrees of freedom manipulator shown in Fig. 1. Find the homogeneous transformation matrix that describes the position and orientation of the end of arm with respect to the base frame.

UNIT IV

1. (a) Show and explain the D-H parameters for ith link in a manipulator. Obtain the transformation matrix from frame i to frame i-1 attached to the ends of ith link in a manipulator in terms of the D-H parameters.

(b) Obtain the D-H parameters for the manipulator shown in Fig. 1.

2. (a) Explain the Design considerations of gripper selection.

(b) Explain the important factors that have to be considered in determining the required grasping force

3. Find the direct kinematic equations for the parallelogram arm shown in Fig.

4. Find the direct kinematic equations for the two link planar arm shown in Fig. 1. Obtain the solutions for the inverse kinematics.

5. Explain how you solve simple inverse kinematic algorithm

6. (a) What are the features of Robot in Material handling? Explain.

(b) What are the problems for Robots in Arc welding?

7. (a) Define the following terms in robotics:

i. work envelope

ii. Work cell

iii. Tip speed

iv. Coordinated motion

(b) Discuss the roles that the major and minor axes of a robot in positioning a part in space.

UNIT V

1. Determine the dynamic equations for the two-link manipulator shown in Fig. 2.

Assume that whole mass of the link can be considered as a point mass located at the outermost end of each link. The masses are m1 and m2 and the link lengths are a1 and a2.

2. (a) Explain the Design considerations of gripper selection.

(b) Explain the important factors that have to be considered in determining the required grasping force

3. (a) Discuss about the Jacobians in the force domain.

(b) Explain the determination of Jacobians with respect to frames attached to

different links, when the Jacobian with respect to base frame is given.

4. (a) Discuss the common types of motion that a robot manipulator can make in traveling from point to point.

(b) Determine the time required for each joint of a three - axis RRR manipulator to travel the skew motion: Joint 1 : 300, Joint 2 : 600 and Joint 3 : 800. All joints travel at a rotational velocity of 300/s. Neglect the effects of acceleration and deceleration

5. What is jacobian? Find the jacobian for the two link planar arm shown in Fig. 2.

5. Obtain the dynamic equations for the two-link manipulator shown in Fig. 2. Assume that whole mass of the link can be considered as a point mass located at the outermost end of each link. The masses are m1 and m2 and the link lengths are a1 and a2.

6. Compute the jacobian for the three-link planar arm shown in Fig. 2.

6. (a) A single cubic trajectory is given by (t) = 20+ 25 t2 + 40 t3 and is used over a time interval from t = 0 to t = 2 seconds . What are the starting and final positions, velocities and accelerations?

(b) Explain the limitations of lead through programming.7. (a) A single link robot with a rotary joint is motionless at = -2 degrees. It is required to move the joint in a smooth manner to = 50 degrees in 2.5 seconds and stop smoothly. Compute the parameters of a linear trajectory with parabolic blends.

(b) What are the characteristics of robot task-level languages? Explain.

8. (a) Compute the time law q(t) for a joint trajectory with velocity profile of the type q_ (t) = a sin( t) from q(0) = 0 to q(2) = 2.

(b) Discuss the characteristics of robot-level languages.

UNIT VI1. Explain how you solve simple inverse kinematic algorithm

2. (a) Explain the Design considerations of gripper selection.

(b) Explain the important factors that have to be considered in determining the required grasping force

3. (a) What are the different motion types that a robot manipulator can make in traveling from point to point? Explain.

(b) What are the basic elements of the robot language? Explain.UNIT VII

1. (a) What are the functions of a resolver? Explain with neat sketch.

(b) What are the functions of oa potentiometer? Explain with neat sketch.

2. (a) Write the homogeneous transformation matrix for a rotation of 900 about the z-axis, followed by a rotation of 900 about the x-axis, followed by a translation o