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2003 Course Robotics (Elective II)

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Total No. of Questions : 12] P1613 [Total No. of Pages : 3 [3764]-182 B.E. (Production Engg.) ROBOTICS (411090) (Elective - II) (2003 Course) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Attempt Q1 or Q2, Q3 or Q4, Q5 or Q6 from Section-I and Q7 or Q8, Q9 or Q10, Q11 or Q12 from Section-II . 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. SECTION - I Q1) a) Explain the following terms associated with robot: i) Robot Work Envelop. ii) [8] Accuracy. iii) Repeatability. iv) Payload capacity. b) Explain the six degrees of freedom associated with the manipulator. [8] OR Q2) a) Define Robot. Explain with time period the development process in each robot generation. [8] b) Find the worst spatial resolution of a spherical robot with 800 mm arm length. The robot is equipped with three encoders emitting 1200 pulses per revolution. The linear axis is actuated with the aid of 200 mm pitch lead screw having the encoder mounted on it. [8] P.T.O. Q3) a) For a pick and place type of robot, the link parameters table is given below: i i 1 a i 1 di i 1 0 0 0 30 2 90 0 2 0 3 0 3 0 90 Determine the location of the end point of the link 3 with respect to the base. [8] b) Explain the Inverse kinematics associated with planar 3R manipulator. [8] OR Q4) a) For a pick and place type of robot, the link parameters table is given below: i i 1 a i 1 di i 1 0 0 0 45 2 90 0 2 90 3 0 5 0 60 Determine the location of the end point of the link 3 with respect to the base. [8] b) Explain the forward kinematics associated with planar 3R Robot. [8] Q5) a) Describe Proximity and Range sensors used in robot. [8] b) The following data represent a 8 8 array of pixel. Each element in array indicates the gray level of pixel. 10 17 19 17 19 17 19 12 13 17 19 18 19 19 18 13 14 15 11 19 19 15 10 14 13 10 11 2 20 11 11 13 12 12 12 2 21 12 11 12 11 12 12 19 19 12 10 12 12 18 18 18 19 18 20 11 12 19 19 18 19 Convert it into black and white image. 20 22 12 [10] [3764]-182 -2- OR Q6) a) With neat sketch explain any two electro-mechanically actuated grippers. [8] b) Explain the concept of low vision and high vision associated with robot vision system. [10] SECTION - II Q7) a) Explain the various programming methods used in robots. b) Explain with neat sketch hydro-pneumatically actuated robot. [8] [8] OR Q8) a) Explain WAIT , DELAY , SIGNAL , DEPART commands. [8] b) Describe the structure of any robot programming language with example. [8] Q9) a) Explain the working of RS 232C interface. b) Describe the following applications of robot: i) [8] Spray painting. ii) [8] Machine loading and unloading. OR Q10) a) What is handshaking? Explain hardware handshaking of robot. b) What do you understand from robot economics? Q11) Write a note on: [8] [8] [18] a) Walking robots. b) Safety measures in Robotics. OR Q12) Write a note on : [18] a) Underwater robots. b) Robots used in mines. rrr [3764]-182 -3-

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