National Institute of Technology, Rourkela

Department of Industrial Design

End Semester Examination 2016-17
Subject Code: ID441 Subject: Industrial Automation
Max. Marks: 50 Duration: 3hrs.
Instructions: Answer any FIVE of the following questions

1.A) Explain Homogeneous Representation with suitable sketch for performing rotational
and translational operations between global and local reference frames.

B) For the figure.1, find the homogeneous

transformation matrices 1 for i=1, 2,
3, 4, 5 and prove that 20 = 10 21.
Consider the lengths of each side as
a=1; b=1; c=0.25; d=e=0.75 units.

Fig. 1 [2+8]

2.A) Describe the role robots in industrial automation

B) Consider two reference frames A (x, y, z) and B (u, v, w) coincide each other. Find out
the coordinates of a point P in a reference frame B, when the reference frame B is
rotated by an angle about y-direction.
Continuous to above, find the rotation matrix for the following operations:
Rotation of 300 about y-axis; Rotation of 450 about w-axis; Rotation of 600 about u-axis [2+8]
3.A) Describe point to point motion control and continuous motion control system
B) Write short notes on absolute and incremental
co-ordinate system? Using the above
mentioned systems, find out the co-ordinates
for a drilling operation as shown in the Fig. 2

[5+5]

Fig. 2
4.A) Write short notes on Repeatability. Find out the precision of an instrument having
standard deviation 60 and the measured angle in the range of 300-400.
B) Write short notes on Sensitivity. Calculate the sensitivity of a spring balance system,
where a displacement of 50 mm of the spring caused by giving an additional load of 5 [5+5]
kg
5.A) Formulate the governing equation for a seismic
sensor as shown in Fig. 3.
Where M = mass of the seismic body;
B = damping constant; K= spring constant

Fig. 3
B) Write the procedure for displacement measurement using capacitance sensors.
A parallel plate capacitor is constructed of metal plates, each with area 0.2 m2 and the
plate separation is 2 mm, absolute permittivity in the free space is 8.85 1012 F/m,
and relative permittivity of the dielectric is 4.5 . Find out the capacitance? [5+5]

6.A) Differentiate various types of actuators used in industries w.r.t type of motion generated
and media used.
B) Define resolution. Find the resolution of a 10-bit ADC, if it is excited by a 10V source?

C) Define accuracy. The accuracy specified for a pressure gauge of range 0-10kPa. is 2%.
Find the maximum error in measurement in Pa. if it gives a reading of 4.0 kPa. [2+4+4]