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Final Exam - Summer

The document outlines the final exam for the Motion Control course (MEC456) at the Egyptian Academy for Engineering & Advanced Technology, detailing the structure and content of the exam. It includes three main questions covering topics such as the design conditions for a 4th order model, kinematics of a robot arm, and system transfer functions. The exam is supervised by Dr. Amin Danial and consists of a total of 40 marks over a duration of 120 minutes.

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33 views2 pages

Final Exam - Summer

The document outlines the final exam for the Motion Control course (MEC456) at the Egyptian Academy for Engineering & Advanced Technology, detailing the structure and content of the exam. It includes three main questions covering topics such as the design conditions for a 4th order model, kinematics of a robot arm, and system transfer functions. The exam is supervised by Dr. Amin Danial and consists of a total of 40 marks over a duration of 120 minutes.

Uploaded by

Ŷặśśěř MøĤåmêð
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

Ministry of Higher Education

Egyptian Academy for Engineering & Advanced Technology


Affiliated to the Ministry of Military Production
Mechanical Engineering Department Course Name: Motion Control
Mechatronics Engineering Course Code: MEC456
2019-2020 Exam Period: 120 min
Final Exam - Summer Total Marks: 40
Instructor Name: Dr. Amin Danial No. of Pages: 2
Question 1 Mark:20 ILO's: a1
1) For the 4th order model, what is the design conditions regarding the poles of the system? (6 marks)
2) Draw the block diagram of the 4th order model (illustrating the signals on the graph). (3 marks)
3) When can the 4th order model be approximated by 1st order model and 2nd model? (4 marks)
4) Draw the block diagram for the 2nd order approximation. Then write down the differential equation
of this model. (5 marks)
5) What is the reason of considering ζ 2 ≥ 1 of the 2nd order approximation? (2 marks)

Question 2 Mark:10 ILO's: b1

1) Derive the forward kinematics of the robot arm shown in the figure. (3 marks)
2) Derive the inverse kinematics of the robot arm shown in the figure. (3 marks)
3) The arm moves in parabolic path y=x 2 with velocity v=0.1 m/s, find at the position
y=4 and x=2 the velocities v x and v y. (4 marks)

Question 3 Mark:10 ILO's: b1

From the following figure, find:

1) The transfer function Y (s)/ X ( s ) . (2.5 marks)


2) What is the differential equation of the system. (2.5 marks)
3) If x=t and J=1 , what is y ( t ) ? (2.5 marks)
4) Find the value of K such that the time constant of the system is 2 sec, where J=1. (2.5 marks)

Examiner Name Dr. Amin Danial


Signature Amin Danial
Page 1 of 2
Ministry of Higher Education
Egyptian Academy for Engineering & Advanced Technology
Affiliated to the Ministry of Military Production

Useful Relations

Best Wishes

Examiner Name Dr. Amin Danial


Signature Amin Danial
Page 2 of 2

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