parthshah08
Member
Q-1)Consider a Hexapod robot having 6 shoulder joints and 6 elbow joints. Each joint uses 1 DC motor for actuation. How many digital control pins of a microcontroller are required to control the robot most effectively?
Q-2)If the total load on the robot mentioned in (Question: 1) is 3 Kg and length of both shoulder arm and elbow arm is 5 cm. What is the minimum torque requirement of the elbow motor to make the robot stand (i.e. minimum torque required by elbow motor to change from 0 to 90 degrees)?
Q-3)In a hexapod robot what is the minimum number of legs that are required to be grounded for both static stability as well as dynamic stability at slow speeds?
Q-4): A hexapod is fitted with ultrasonic sensor for navigation and is placed in a vacuum room for testing. After how long will the sensor receive an echo if it sends an ultrasonic beam towards a wall 3m away?
Q-5)Imagine a simple line follower track (as shown here) of black color on white surface. The robot comprises a chassis, two wheels, two motors, a motor driver, a battery and few discrete electronic components and just one IR Sensor Module. The robot (represented by red arrow) is placed as shown below. What should be the logic based on which the robot will follow the track and reach the end point? (Please give a high level logic which involves color of the surface and the robot direction only. We don’t expect you to go into the motor driver control, comparators etc.)
Q-6): Imagine a two-wheeled robot as shown in the figure here. The robot has two DC motors with rated speed of 60 rpm. The distance between the two wheels is around 20 cm. What should be the operating speeds of both the motors (outer and inner), such that the inner wheel covers a circle of 40 cm radius (as shown) in fastest possible time?
Q-7): Imagine a similar problem statement as (Question:6) for a hexapod robot having body width equal to 20 cm. If the speed of each motor is fixed at 60 rpm and cannot be varied, how will the robot achieve a circle of 40cm radius? (Note: just give the parameter that needs to be varied for each step. We don’t expect a gait sequence explanation)
Q-2)If the total load on the robot mentioned in (Question: 1) is 3 Kg and length of both shoulder arm and elbow arm is 5 cm. What is the minimum torque requirement of the elbow motor to make the robot stand (i.e. minimum torque required by elbow motor to change from 0 to 90 degrees)?
Q-3)In a hexapod robot what is the minimum number of legs that are required to be grounded for both static stability as well as dynamic stability at slow speeds?
Q-4): A hexapod is fitted with ultrasonic sensor for navigation and is placed in a vacuum room for testing. After how long will the sensor receive an echo if it sends an ultrasonic beam towards a wall 3m away?
Q-5)Imagine a simple line follower track (as shown here) of black color on white surface. The robot comprises a chassis, two wheels, two motors, a motor driver, a battery and few discrete electronic components and just one IR Sensor Module. The robot (represented by red arrow) is placed as shown below. What should be the logic based on which the robot will follow the track and reach the end point? (Please give a high level logic which involves color of the surface and the robot direction only. We don’t expect you to go into the motor driver control, comparators etc.)
Q-6): Imagine a two-wheeled robot as shown in the figure here. The robot has two DC motors with rated speed of 60 rpm. The distance between the two wheels is around 20 cm. What should be the operating speeds of both the motors (outer and inner), such that the inner wheel covers a circle of 40 cm radius (as shown) in fastest possible time?
Q-7): Imagine a similar problem statement as (Question:6) for a hexapod robot having body width equal to 20 cm. If the speed of each motor is fixed at 60 rpm and cannot be varied, how will the robot achieve a circle of 40cm radius? (Note: just give the parameter that needs to be varied for each step. We don’t expect a gait sequence explanation)