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 Name: Student No. Exam Aim: The exam consists of 3 questions, the main aim of the exam is to measure the and compare ractical attainment for the students in the laborato of educational and findings with each other in various sections Question 1 The following is a table that shows the list of inputs and outputs for the pneumatic robot. function Input waist rotated right X000 X001 waist rotated left arm retracted X002 arm extended X003 X004 arm raised arm lowered X005 wrist rotated CCW NOIE wrist rotated CW X01F toggle switch X017 function Outputs rotate waist left Y020 (ON) Y020 (OFF) rotate waist right 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