Robotics Tutorial 2

Robotics Tutorial 2
1. A single-acting hydraulic cylinder with spring return has an inside diameter of 80

mm r application is to push pallets off of a conveyor into a storage area. The
hydraulic powers! can generate up to 3.2 MPa of pressure at a flow rate of
175000 mm3/sec to drive the piston. Determine (a) the maximum possible
velocity of the piston and (b) the maximum force that can be applied by the
apparatus.
2. A double-acting hydraulic cylinder has an inside diameter of 75 mm. The piston
rod has a diameter of 14 mm. The hydraulic power source can generate up to 5
MPa of pressure at a flow rate of 200000 mm 3/s to drive the piston, (a) What are
the maximum possible velocity of the piston and the maximum force that can
applied in the forward stroke, (b) What are the maximum possible velocity of the
piston and the maximum force that can be applied in the reverse stroke?
3. A stepper motor is used to drive a linear axis of a robot. The motor is connected
to a screwed shaft having a single start thread of pitch 2.5 mm. The resolution
desired for the controlled motion is 0.5 mm. Determine step angles that are
required on the motor to obtain the resolution.
4. The step angle of a certain stepper motor is 1.8°. The application of interest is to
rotate the motor shaft through 15 complete revolutions at an angular velocity of
25 rad/s. Determine (a) required number of pulses (b) pulse frequency to achieve
the specified rotation.
5. A stepper motor has a step angle=7.5°. (a) How many pulses are required for the
motor to rotate through 5 complete revolutions? (b) What pulse frequency is
required for the motor to rotate at a speed of 200 rev/min?
6. A stepper motor is to be used to actuate one joint of a robot arm in a light duty
pick-and-place application. The step angle of the motor is 10°. For each pulse
received from the pulse train source and motor rotates through a distance of one
step angle. What is the resolution of the stepper motor?
7. A DC servomotor has a torque constant =0.088 Nm/A and a voltage constant
=0.14 V/rad/sec. The armature resistance is 2.15 ohms. A terminal voltage of 30
V is used to operate the motor. Determine;
i. starting torque generated by the motor just as the voltage is applied .
ii. maximum speed at a torque of zero.
8. An arm of the cylindrical robot that is driven by a direct-current motor needs a
torque of 100 Nm. The DC motor has a torque constant of 3 Nm/ ampere. How
much current is needed to drive the robot arm at maximum load?
9. A certain DC servomotor used to actuate a robot joint has a torque constant of
0.1 Nm/A and a voltage constant of 0.2 V/rad/sec. The armature resistance =3
ohm. At a particular moment during the robot cycle, the joint is not moving and a
voltage of 30 V is applied to the motor.
i. Find the torque of the motor immediately after the voltage is applied.
ii. What is the back-emf and corresponding torque of motor at 500 rpm.
iii. If there were no resisting torque and no inductance of the armature
windings operating to reduce the speed of the motor, determine the
maximum theoretical speed of the motor when the input voltage is 30
V.
10. An image is digitized at 128 points per line and 128 lines. Find (a) total number of
bits to represent the gray level values required if an 8 bit analog-to-digital
converter is used to indicate various shades of gray (b) reduction in data volume
if only black and white values are digitized. (Hint: total
bits=128xl28x28/128x128x2)
11. A potentiometer is to be used as the feedback device to indicate position of the
output link of a rotational robot joint. The excitation voltage of the potentiometer
equals 5 V and the total wiper travel of the potentiometer is 300°. The wiper arm
is directly connected to the rotational joint so that a given rotation of the joint
corresponds to an equal rotation of the wiper arm. Determine the resulting output
voltage of potentiometer due to a wiper position of 38°.
Find output voltage of a potentiometer with following characteristics: The

excitation voltage: 12 V, total wiper travel=320° and wiper position=64°.
(Hint: vo=vex.0a/etot)
12. A resolver is used to indicate angular position of a rotational wrist joint. The
excitation voltage to the resolver is 24 V. The resolver is connected to the wrist
joint so that a given rotation of the output link corresponds to an equal rotation of
the resolver. At a certain moment in time, the movement of the wrist joint results
in voltage across the two pairs of stator terminals to be 10 V and -21.82V. Find
the angle of rotation of the rotational joint.
13. At a time, excitation voltage to a resolver is 24 V. The shaft angle is 90°. What is
output signal from resolver ? (Hint: vsl=24 sin90, vsl=24 cos90)
14. What is the resolution (angular width of each control increment) for an encoder
having 10 tracks?
15. What is the output value of absolute encoder if the shaft angle is 1 radian and the
encoder has 4 tracks?
16. A DC tachometer is used as velocity feedback device on a certain twisting joint.
The joint actuator is capable of driving the joint at a maximum velocity of 0.75
rad/s and the tachometer constant is 8 V/rad. If the joint rotates at a speed of 25
degrees per second, find the output voltage of the tachometer.
17. A power screw mechanism is used to convert rotational motion into linear motion
for a robot joint. The screw has 4 threads/cm and the thread angle is 10°. The
diameter of the screw is 0.9 cm and coefficient of friction between the threads on
the screw and moving nut is 0.3. If torque applied to the screw is 100 N-m, find
the force that will be transmitted to the nut moving along the screw.

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Robotics Tutorial 2

1. A single-acting hydraulic cylinder with spring return has an inside diameter of 80

Find output voltage of a potentiometer with following characteristics: The

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