Applied Science Private University Course Automation lab Fac

Applied Science Private University Course: Automation lab Faculty of Engineering Course No.: 803411 Department: Industrial & mechanical engineering Final Exam Semester: the summer Academic Year 2015 /2016 Internal Examiner Instructor: Eng. Dana Salameh Student No. Student Name: Exam Aim: The exam consists of 3 questions, the main aim of the exam is to measure the e and the laborato ompare ctical attainment for the students of educational and with eac other in various section findin Question 1 The following is a table that shows the list ofinputs and outputs for the pneumatic robot. function Input waist rotated right X000 waist rotated left X001 arm retracted X002. arm extended X003 arm raised X004 arm lowered X005 wrist rotated CCW NOIE wrist rotated CW X01F toggle switch X017 function Outputs rotate waist left Y020 (ON) rotate waist right Y020 (OFF) extend arm Y021 (ON) Y021 (OFF retract arm lower arm Y022 (ON) raise arm Y022 (OFF) wrist rolls CW Y023 (ON) wrist roll CCW Y023 (OFF) gripper closed Y024 (ON) gripper open Y024 (OFF

Solution

(a)1. Waist is at normal position(aligned to body)

2. Arm is at normal position(aligned to body)

3.wrist is point downwards to ground and stationary

(b) Toggle active-waist arm wrist operations are ANDED_When these are performed the respective actions are performed with timer atteached to it

(c) The robot is at halt positon unless a command is given to it