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2003 Course Robotics & Automation (Elective I)

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Total No. of Questions : 12] [Total No. of Pages : 3 [3764]-205 P1470 B.E. (Electrical) ROBOTICS & AUTOMATION (Elective - I) (2003 Course) Time : 3 Hours] [Max. Marks : 100 Instructions to candidates : 1) Answer three questions from each section. 2) Answers to the two sections should be written in separate books. 3) Neat diagrams must be drawn wherever necessary. 4) Figures to the right indicate full marks. 5) Your answers will be valued as a whole. 6) Use of logarithmic tables, slide rule, Mollier charts, electronic pocket calculator and steam tables is allowed. 7) Assume suitable data, if necessary. SECTION - I Q1) a) Write the RIA definition of Robot and explain clearly the operational features of industrial robots which make them different from fixed automation. [8] b) With the help of a neat diagram, explain the basic components of a typical robotic system. [8] OR Q2) a) b) With the help of a neat diagram explain the concept of CNC machine. Differentiate CNC machine from a robot system. [8] Write a note on: i) Prosteses. ii) [8] Telecherics. Q3) Explain the following terms: [18] a) Work envelope. b) Spatial Resolution. c) Degrees of freedom. d) Roll, pitch, yaw. e) Compliance. f) Repeatability. OR P.T.O. Q4) a) Compare hydraulic drives with electrical drives for robotic applications. [6] b) Explain the concept of servocontrolled and non-servo controlled robots. [8] c) Draw work envelopes for i) Q5) a) b) [4] Cylindrical robot. ii) Cartesian robot. Explain the methods for rotary to rotary motion conversion. [8] Explain working of the following types of grippers. [8] i) Vacuum type. ii) Magnetic type. OR Q6) a) Explain the concept of Lagrangian and how it can be used for deriving dynamic equations for a typical revolute joint. [10] b) With the help of a neat diagram explain the working of harmonic drive.[6] SECTION - II Q7) a) Draw a neat diagram of Stanford Robot explaining the degrees of freedom. Also show all the co-ordinate frames attached to the robot.[10] b) The co-ordinates of a point are (2, 2, 0) w.r.t. a movable cartesian frame OUVW. Find the co-ordinates of the point w.r.t. the fixed cartesian frame OXYZ if the movable frame is obtained by a rotation of 60 about the Z axis followed by a translation of 5 units along the rotated V axis. [6] OR Q8) a) b) With the help of a neat diagram, define all D-H parameters. [8] In a three axis RRR robotic arm, the shoulder joint is arranged on the axis of a rotary base and the axes of rotation of shoulder and elbow joints are parallel to each other. The D-H parameter table for the arm is given below: Link ai i di i 1 0 90 0 1 2 a2 0 d2 2 3 a3 0 0 3 Draw the diagram showing the link co-ordinate system and link parameters. [8] [3764]-205 2 Q9) a) Given the transformation between the wrist and the base of a 4DOF RPPR manipulator as [10] c1c 4 s1c4 s Tsym = 4 0 where c1 = cos Determine 1, 1 c1s 4 s1s4 c4 0 s1 c1 0 0 s1 = sin d2, d3, 4 1 d 3s1 + 5c 1 d3 c1 + 5s1 d2 1 c4 = cos 4 and s4 = sin 4 if T is expressed numerically as 0 . 2 5 0 . 4 3 3 0.866 89.10 0.433 0.75 0.5 45.67 Tnum = . 0.866 0 . 5 0 50 0 0 0 1 b) Write a short note on the following robotic applications. i) Spray painting. ii) [8] Part sorting. OR Q10)a) Explain with the help of a neat diagram, the concept of inverse kinematics. Explain following methods for the solution of inverse kinemics. [12] i) Direct method. ii) Geometric method with coordinate transformation. iii) Manipulation of symbolic T & A matrices. b) Explain in details how robots can be used for welding application. [6] Q11)a) Derive an expression for a differential rotation rot (k, d ). What are the assumptions in the derivation? [8] b) Explain Resolved Motion Position Control (RMPC) for controlling robot manipulator. [8] Q12)a) b) OR Explain the concept of manipulator jacobean, jacobean inverse and singularities in brief. [8] Discuss any two robot programming languages. [8] Y [3764]-205 3

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