A six degree of freedom robot manipulator is developed for pick and place operations in a factory as given in Figure. Assume that the basic mechanical and electrical designs were already completed. Each joint consists of a DC motor as the actuator and an encoder to get the angular feedback. The motor controller drives the six motors to position the end effector to the target position. Further, the robotic system includes an user interface with a keypad and a LCD display to enter target positions. Answer following questions based on the above-mentioned example. a) Considering the overall system, 1). List the functional inputs and outputs of the robot ii). List the functions of the robot iii). Explain the function of the system by considering an example scenario. b) 1). Identify the platform as a system of systems and list the subsystems ii). State the functionality of each subsystem 111). Sketch the system block diagram and label the each subsystem iv). Clearly mention details of the interconnections (type of signals/ interfaces/conversions) between each subsection on the same sketch (in part b)-ii)). c) Considering the functional details of the system, Sketch the functional flow of the overall system as a flow chart. d) Matlab Software is used for modeling and simulating the system Critically evaluate the use of simulation by considering two aspects related to the computer aided design process. Use relevant diagrams and examples scenarios related to the platform. Os 06 03 L01 A six degree of freedom robot manipulator is developed for pick and place operations in a factory as given in Figure. Assume that the basic mechanical and electrical designs were already completed. Each joint consists of a DC motor as the actuator and an encoder to get the angular feedback. The motor controller drives the six motors to position the end effector to the target position. Further, the robotic system includes an user interface with a keypad and a LCD display to enter target positions. Answer following questions based on the above-mentioned example. a) Considering the overall system, 1). List the functional inputs and outputs of the robot ii). List the functions of the robot iii). Explain the function of the system by considering an example scenario. b) 1). Identify the platform as a system of systems and list the subsystems ii). State the functionality of each subsystem 111). Sketch the system block diagram and label the each subsystem iv). Clearly mention details of the interconnections (type of signals/ interfaces/conversions) between each subsection on the same sketch (in part b)-ii)). c) Considering the functional details of the system, Sketch the functional flow of the overall system as a flow chart. d) Matlab Software is used for modeling and simulating the system Critically evaluate the use of simulation by considering two aspects related to the computer aided design process. Use relevant diagrams and examples scenarios related to the platform. Os 06 03 L01
