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2003 Course Robotics & Industrial Automation (Elective II)

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Total No. of Questions : 12] P1632 [Total No. of Pages : 3 [3764]-255 B.E. (Electronics) ROBOTICS & INDUSTRIAL AUTOMATION (404212) (2003 Course) (Elective - II) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Attempt Q1 or Q2, Q3 or Q4, Q5 or Q6 in Section-I and Q7 or Q8, Q9 or Q10 and Q11 or Q12 in 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. 5) Use of electronic pocket calculator is allowed. 6) Assume suitable data, if necessary. SECTION - I Q1) a) Explain how robots can be classified based on the types of joints with the help of neat sketches. [10] b) Define the terms: i) Degree of Freedom ii) [8] Work envelope iii) Payload iv) Kinematics OR Q2) a) Draw neat sketch showing basic building blocks of a robotic system. Explain the function of each block. [10] b) Discuss various specifications of a robotic system. [8] Q3) a) Explain the terms - Forward & Backward Solution. What is its significance? Give typical set of Forward & Backward equations. [8] b) Explain the Direct approach for obtaining Inverse Solution. [8] P.T.O. OR Q4) a) What is D-H representation? Discuss D-H algorithm. [8] b) Explain the term - Robot arm dynamics. Discuss the E-L formulation used for a robotic manipulator. [8] Q5) a) Explain the role of actuator in a robot. Explain any one with neat sketch. [8] b) Give various types of gripper. Explain the end effector with bilateral gripping action with a neat sketch. [8] OR Q6) a) Explain the Lift & Tray technique for slip detection with the help of neat diagram. [8] b) Explain the Pneumatically controlled prismatic joint with the help of neat sketch. [8] SECTION - II Q7) a) Explain the types of motion used while trajectory planning. [8] b) What is Jacobian Control used in robotics? Explain the Jacobian in terms of D-H matrices. [10] OR Q8) a) R-R-R manipulator is at initial position (45, 90, 45) degrees. It is required to move to (135, 0, 0) degrees. Assume that the joints have maximum absolute acceleration/decceleration of (40, 80, 160) degrees/ sec2 & maximum velocities of (20, 40, 80) degrees/sec. Calculate the travel time for each joint using slew motion. [10] b) Explain how obstacle avoidance can be achieved in robotics. [8] Q9) a) What are different types of vision sensors used in robotics? Explain any one of them with the help of neat sketch. [8] b) Name various segmentation techniques used in robot vision system. Explain any one of them. [8] [3764]-255 -2- OR Q10) a) Explain the applications of Machine Vision System. b) Discuss the use of Inteligent Sensors in robotics. [8] [8] Q11) a) What do you mean by Nanorobot? Name its various fields of application. Explain any one application, in detail. [8] b) Explain the terms - MEMS and Microsystems. Discuss their applications. [8] OR Q12) Write notes on: [16] a) Link and Joint Parameters. b) Pitch, Roll & Yaw. c) H matrix. d) Teach Pendent. rrr [3764]-255 -3-

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