Unit 3

1. Working of Thermal Power Plant

A thermal power plant is a facility that converts heat energy (by burning coal) into electrical
energy. It operates on the principle of thermodynamics, particularly the Rankine cycle. The
basic working of a thermal power plant involves several steps:

1. Fuel Combustion: The primary source of heat in a thermal power plant is the
combustion of a fossil fuel such as coal, natural gas, or oil. Some plants use renewable
sources like biomass or geothermal heat. The fuel is burned in a combustion chamber
to produce high-temperature and high-pressure steam.
2. Boiler: The heat generated by fuel combustion is used to boil water and produce
steam in a boiler. The boiler is a high-pressure vessel where water is heated to create
superheated steam. The steam is typically at very high temperatures and pressures to
maximize its energy content.
3. Steam Turbine: The high-pressure, high-temperature steam generated in the boiler is
directed into a steam turbine. The steam expands through the turbine's blades, causing
the turbine to rotate. As the steam does work on the turbine, its pressure and
temperature drop, and the kinetic energy is converted into mechanical energy.
4. Generator: The rotating shaft of the steam turbine is connected to a generator. As the
turbine rotates, it drives the generator, which converts the mechanical energy into
electrical energy through electromagnetic induction. This process generates
alternating current (AC) electricity.
5. Condenser: After passing through the turbine, the low-pressure and low-temperature
exhaust steam is condensed back into water in a condenser. This condensation is
facilitated by a cooling system, typically using water from a nearby river or cooling
towers. The water is then returned to the boiler to be reheated and reused.

Schematic diagram of a thermal power plant

Efficiency of a thermal power plant lies about 35%.
2. Hydro Electric Power Plant

A hydroelectric power plant generates electricity using the energy of flowing water, typically
from a river or dam. The basic principle and working of a hydroelectric power plant involve
the conversion of kinetic energy from moving water into mechanical and then electrical
energy. Here are the key steps involved:

1. Water Source: A hydroelectric power plant relies on a consistent and reliable source
of flowing water, which can be obtained from a river, dammed reservoir, or other
water bodies. The flow of water is essential for the continuous operation of the plant.
2. Dam or Reservoir: In many hydroelectric power plants, a dam is built across a river to
create a reservoir, which stores a large volume of water at an elevated level. This
elevated water is a potential energy source.
3. Penstock: The water from the reservoir is channelled into a large, high-pressure pipe
called a penstock. The pressure in the penstock is created by the weight of the water
due to its elevation above the turbines. The high-pressure water enters the power plant
with significant kinetic energy.
4. Turbines: The high-pressure water from the penstock is directed onto the blades of a
turbine. The force of the flowing water causes the turbine to spin. There are different
types of turbines used in hydroelectric power plants, such as Pelton, Francis, and
Kaplan turbines, each suited to specific water flow conditions.
5. Mechanical Energy: As the turbine spins, it converts the kinetic energy of the flowing
water into mechanical energy in the form of rotational motion.
6. Generator: The rotating shaft of the turbine is connected to a generator. Inside the
generator, the mechanical energy is used to turn a rotor, which is placed within a
magnetic field. This rotation induces electromagnetic induction, producing electrical
energy in the form of alternating current (AC)
3. Nuclear Power Plant
A nuclear power plant generates electricity through a process called nuclear fission. Nuclear
fission involves the splitting of atomic nuclei, releasing a significant amount of energy. The
basic principle and working of a nuclear power plant can be explained as follows:

1. Nuclear Fuel: Nuclear power plants use a specific type of fuel, typically uranium-235
(U-235) or plutonium-239 (Pu-239). These fuels are chosen because they are fissile
materials, meaning they can undergo nuclear fission when bombarded with neutrons.
The fuel is usually in the form of small pellets, which are loaded into fuel rods.
2. Nuclear Chain Reaction: To initiate nuclear fission, the nuclear fuel is placed in a
controlled environment within the reactor core. Neutrons are introduced to the fuel,
causing U-235 or Pu-239 nuclei to undergo fission, which releases energy in the form
of heat. This process is self-sustaining, as each fission event releases more neutrons,
leading to a chain reaction.
3. Reactor Core: The reactor core is the central component of the nuclear power plant. It
contains the fuel assemblies, control rods, and coolant. The control rods are made of
materials that can absorb neutrons, and their position can be adjusted to control the
rate of the chain reaction.
4. Coolant (or Moderator): The heat generated during nuclear fission is carried away by
a coolant, usually water or heavy water (deuterium oxide). The coolant circulates
through the reactor core, absorbing heat and carrying it to a heat exchanger.
5. Heat Exchanger: In the heat exchanger, the heat from the coolant is transferred to a
secondary coolant loop without any contact between the two loops. The secondary
coolant is typically water or steam.
6. Steam Generation: The heat transferred to the secondary coolant in the heat exchanger
causes it to boil and produce high-pressure steam.
7. Steam Turbine: The high-pressure steam from the secondary coolant loop is directed
into a steam turbine. The steam expands through the turbine blades, causing the
turbine to rotate.
8. Generator: The rotating shaft of the steam turbine is connected to a generator. As the
turbine spins, it drives the generator, converting the mechanical energy into electrical
energy through electromagnetic induction. This electricity is generated in the form of
alternating current (AC)
4. Discuss advantages and disadvantages of various power plants

Advantages and disadvantages:

Thermal Power Plant

 Advantages:
o Can be used to meet peak demand
o Can be used to load-follow other renewable energy sources
 Disadvantages:
o Can produce air pollution
o Can be noisy
o Can consume large amounts of water

Hydroelectric Power Plant

 Advantages:
o Can provide storage for renewable energy sources
o Can help to regulate floods and droughts
 Disadvantages:
o Can damage fish populations and other aquatic life
o Can submerge land and displace people
Nuclear Power Plant

 Advantages:
o Can be used to meet baseload demand without producing greenhouse gas
emissions
o Can be used to produce hydrogen fuel and other products
 Disadvantages:
o Produces radioactive waste that must be carefully managed
o Risk of nuclear accidents

5. Mechanical Power Transmission Systems

Belt Drives:

 Principle: Belt drives operate based on the friction between a belt (usually made of
rubber or synthetic materials) and a pair of pulleys. The power is transmitted from one
pulley to another by the motion of the belt.

 Advantages:
 Smooth and quiet operation.
 Less maintenance compared to some other drive systems.
 Can absorb shock loads and dampen vibrations.
 Suitable for long-distance power transmission.
 Disadvantages:
 Limited to lower power transmission compared to chain and gear drives.
 Slippage can occur under heavy loads or in wet conditions.
 Belt replacement may be necessary over time due to wear and fatigue.

Chain Drives:

 Principle: Chain drives use a chain, typically made of metal, to transfer power
between sprockets. The power is transmitted through the meshing of the chain's links
with the teeth of the sprockets.
  Advantages:
 High strength and durability, making them suitable for heavy loads and high
torque applications.
 Minimal slippage even under heavy loads.
 Efficient power transmission.
 Low maintenance, especially when lubricated regularly.
 Disadvantages:
 Can be noisy and require lubrication.
 Less flexibility and precision compared to gear drives.
 In applications exposed to dust and debris, chains may require frequent
cleaning and maintenance.

Gear Drives:

 Principle: Gear drives operate on the principle of interlocking gears. The teeth of one
gear mesh with the teeth of another gear to transmit motion and power.
  Advantages:
 High precision and efficiency in power transmission.
 Offers precise control over speed and torque.
 Compact and suitable for applications where space is limited.
 Can handle both high and low-speed applications effectively.
 Disadvantages:
 Gears are more prone to wear and may require periodic maintenance.
 Gear drives can be noisy due to the contact between gear teeth.
 More complex design compared to belt and chain drives.

6. Define a Robot and explain their role in modern world.

Definition of a Robot: A robot is a programmable, autonomous or semi-autonomous
mechanical device designed to perform tasks and interact with its environment. Robots are
equipped with sensors, actuators, and a control system that allows them to sense their
surroundings, make decisions, and execute actions to achieve specific objectives. They come
in various forms and are used in a wide range of applications, from manufacturing and
healthcare to exploration and entertainment.

Role of Robots in the Modern World:

Robots play an increasingly significant role in the modern world, and their impact is
pervasive across various industries and aspects of daily life. Here are some key roles that
robots perform in the contemporary world:

1. Manufacturing and Industry:

 Robots are extensively used in manufacturing to automate repetitive and
dangerous tasks, such as welding, painting, and assembly.
  They enhance efficiency, accuracy, and consistency in production processes,
leading to higher product quality and reduced labor costs.
2. Healthcare:
 Surgical robots assist doctors in performing precise and minimally invasive
procedures, improving patient outcomes and reducing recovery times.
 Robots can provide physical therapy and assist patients with mobility issues,
enhancing the quality of healthcare services.
3. Agriculture:
 Agricultural robots help with planting, harvesting, and monitoring crops. They
can also perform tasks like weeding and fruit picking.
 These robots contribute to increased crop yield and reduced labor
requirements in farming.
4. Logistics and Warehousing:
 Robots are used in warehouses and logistics centers for tasks such as order
fulfillment, inventory management, and goods transportation.
 They enable faster and more accurate order processing and optimize supply
chain operations.
5. Space Exploration:
 Robotic spacecraft and rovers are used for planetary exploration, allowing
scientists to gather data and conduct experiments in distant and hazardous
environments.
 Robots have played a crucial role in advancing our understanding of the
cosmos.
6. Search and Rescue:
 Robots, including drones and remote-controlled vehicles, aid in search and
rescue operations during natural disasters and emergencies, helping to locate
survivors and assess damage.
7. Entertainment and Education:
 Robots are employed in the entertainment industry, from animatronic
characters in theme parks to robots used in movies and shows.
 Educational robots are used to teach programming, engineering, and problem-
solving skills to students of all ages.
8. Home Automation:
 Smart home devices, often considered domestic robots, can perform tasks like
cleaning (e.g., robotic vacuums), controlling appliances, and enhancing
security.
9. Environmental Monitoring:
 Robots are used to collect data on environmental conditions, including air and
water quality, and to monitor ecosystems for research and conservation
purposes.
10. Defense and Security:
 Military and security robots are used for tasks like bomb disposal,
reconnaissance, and surveillance, reducing risks to human personnel in
dangerous situations.
7. Components of a robot.
The main components of a robot include:

1. Sensors: These devices allow the robot to perceive its environment by collecting data
such as visual information (cameras), proximity (ultrasonic sensors), touch (pressure
sensors), temperature, and more. Sensors provide input to the robot's control system.
2. Actuators: Actuators are responsible for generating motion or performing actions
based on commands from the control system. They include electric motors, servos,
pneumatic cylinders, and hydraulic systems.
3. Control System: The control system is the robot's "brain" and consists of
microcontrollers, microprocessors, and software. It processes sensor data, makes
decisions, and sends commands to actuators to control the robot's movements and
actions.
4. Power Supply: Robots require electrical power to operate. This can be provided by
batteries, external power sources, or a combination of both. The power supply ensures
the energy needed for the robot's components to function.
5. Mechanical Structure: This includes the physical body, frame, and mechanical
components that give the robot its shape and mobility. The design of the mechanical
structure is tailored to the robot's intended tasks and environment.
6. End-Effector (Manipulator): The end-effector is the specific tool or attachment at
the end of the robot's arm or appendage that interacts with objects or performs tasks.
It can be a gripper, welding tool, surgical instrument, or sensor for data collection.
7. Communication Interface: Robots may have communication interfaces such as Wi-
Fi, Bluetooth, or wired connections to interact with other devices, networks, or
humans. These interfaces enable remote control, data exchange, and programming.
8. Programming and Control Software: Software defines the robot's behavior and
capabilities. It includes algorithms for sensor data processing, motion planning, and
task execution. Programmers use software to design and implement the robot's
functions and operations.
8. Briefly Explain joints used in robots.

Types of Joints in Robotics:

In robotics, joints are pivotal components that allow a robot's parts to move relative to each
other. Different types of joints are used to enable various forms of motion and flexibility. The
choice of joint type depends on the specific application and desired range of motion.
Common types of joints in robotics include:

1. Revolute Joint (R or Hinge Joint):

 A revolute joint allows rotational motion around a single axis. It's like a hinge,
allowing movement like the opening and closing of a door.
2. Prismatic Joint (P or Slider Joint):
 A prismatic joint permits linear or translational motion along a single axis. It's
like a drawer or piston sliding in and out.
3. Spherical Joint (S or Ball Joint):
 A spherical joint allows for rotation around multiple axes at a single point.
This provides a high degree of freedom.
4. Cylindrical Joint (C):
 A cylindrical joint combines both prismatic and revolute motions. It allows
linear motion along one axis and rotational motion around an axis
perpendicular to the linear axis.
5. Planar Joint:
 A planar joint allows movement in a plane, typically with two degrees of
freedom. It's commonly found in 2D robotic systems.

9. Classification of Robots based on coordinate systems and work volumes

Depending on the type of movement and the shape of the envelope that the end-effector can
reach, the robots can be classified into 5 types.
Cartesian Robot – X, Y and Z linear directions in rectangle work volume
Cylindrical Robot – 2 linear movements, 1 angular rotational movement in cylindrical work
volume
Spherical Robot: 2 rotations, 1 radial movement in a spherical work volume