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1997 Course Robotics (Elective I)

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Total No. of Questions : 10] P1572 [Total No. of Pages : 2 [3764] - 1031 B.E. (E & TC) ROBOTICS (404185) (1997 Course) (Elective - I) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Answer any three questions from each section. 2) Answers to the two sections should be written in separate books. 3) 4) 5) 6) Neat diagrams must be drawn wherever necessary. Figures to the right indicate full marks. Use of electronic pocket calculator is allowed. Assume suitable data, if necessary. SECTION - I 1 ) a) 2 ) a) b) Define the terms. i) Payload. ii) Degree of Freedom. iii) Resolution. iv) Tip speed. [8] Explain different types of robots based on major axes with neat sketches. [8] Explain rotary to non linear motion conversion technique. [8] Explain the principle of operation of harmonic drive. [8] 3 ) a) b) Draw the basic building blocks of robotic system and explain. Explain E-L equation for a robotic manipulator. 4 ) a) b) Draw a neat sketch showing joint and link parameters. And explain. [8] What is symbolic T network? How it can be used to find orientation of tool tip frame with respect to base frame? [8] 5 ) a) b) Explain the direct approach for obtaining inverse solution. Explain the term - Homogeneous Transformation. b) [8] [8] [10] [8] P.T.O. 6) a) b) Draw the schematic diagram of a typical hydraulic position servo and explain. [8] Explain the principle of working of a stepper motor. [8] 7 ) a) b) Explain internal and external state sensor. Explain any one in detail. [8] Explain how synchros can be used in robot. [8] 8) ) b) Explain different types of motion that are used while motion planning.[8] Explain the term task planning. [8] 9) ) b) Explain SCARA robot and its applications, in detail. Discuss futute generation Robot Programming languages. [10] [8] 10) es on: Palletizing. End effectors. Teach Pendant. Robot Vision System [16] a) b) c) d) ***** [3764] - 1031 -2-

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