Private Applied Science Private University Course Automation

Private 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 e he labo udents nment for th and practical 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 Input function waist rotated right X000 waist rotated left NO01 NO02 arm retracted arm extended X003 arm raised X004 arm lowered X005 wrist rotated CCW X01E 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 \'023 (ON) wrist roll CCW (OFF) gripper closed (ON) gripper open 024 (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