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2003 Course Robotics & Industrial Automation

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Total No. of Questions : 12] P1518 [Total No. of Pages : 3 [3764]-229 B.E. (E&TC) ROBOTICS AND INDUSTRIAL AUTOMATION (404218) (2003 Course) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Attempt Q.1 or Q.2, Q.3 or Q.4, Q.5 or Q.6 from section-I and Q.7 or Q.8, Q.9 or Q.10, Q.11 or Q.12 from section-II. 2) Answers to the two sections should be written in separate answer books. 3) Neat diagrams must be drawn wherever necessary. 4) Figures to the right indicate full marks. 5) Use of electronic pocket calculator is allowed. 6) Assume suitable data, if necessary. SECTION - I Q1) a) b) Q2) a) b) Q3) a) b) Q4) a) b) Give different ways of classifying a robot. Explain any one method of classification, in detail. [10] Explain the terms. i) Repeatability. ii) Work envelope. iii) Payload. iv) Tip speed. [8] OR Draw neat sketch of basic robotic system. Explain the function of each component. [10] Discuss typical specifications of a pick and place robot. [8] Explain the Graphical approach for obtaining Inverse solution. [8] What do you mean by Forward solution and Backward solution? Give set of Forward and Backward equations. [8] OR Explain different steps in obtaining Forward solution. [8] What is the significance of T-matrix in robotics? Explain symbolic and Numeric T-Matrices. [8] P.T.O. 1 Q5) a) Name different types of actuators used in robotics. Explain any one of them in detail. [8] b) What is the function of end effector in a robot? What factors are taken in account in designing of a gripper? [8] OR What are different types of sensors used in robotics? Explain any one of them in detail. [8] Discuss the Lift and Tray Technique for slip detection with neat sketch. [8] Q6) a) b) SECTION - II Q7) a) Explain the term - Robot motion planning. What are the different types of motion used for it. [8] b) R-R-R manipulator is at initial position (50,90,-50) degrees. It is required to move to (130, 0, 0) degrees. Assume that the joints have maximum absolute acceleration / decceleration of (50, 100, 150) degree/ sec2 and maximum velocities of (20, 40, 50) degree/sec. What is the travel time for each joint using slew motion? [10] OR Q8) a) Draw basic block diagram of Fuzzy Logic Controller and explain the function of each block. Name the application where FLC can be employed in robotics. [8] b) Explain the Jacobian control of a robotic manipulator in terms of D-H matrices. [10] Q9) a) How robot can be provided with vision? Explain in detail. Also give two applications of robot vision system. [8] b) Discuss the term Perspective Transformation in Robot Vision System.[8] OR Explain in detail, how object recognition is done in robot vision system? [8] Q10)a) b) What is the meaning of intelligent sensor? Discuss the use of same in robotics. [8] Q11)a) What is nanorobot? Explain its importance in the field of medical sciences. [8] b) Explain the terms - MEMS and Microsystems. [3764]-229 2 -2- [8] OR Q12)Write notes on: [16] a) Link and Joint Parameters. b) Degree of Freedom. c) Screw Transformation. d) Rotary to Linear motion conversion. [3764]-229 3 -3-

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