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Robotics (Elective II) (October 2010)

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Total No. of Questions : 12] P1301 [Total No. of Pages :5 [3864] - 144 B.E. (Mech.) ROBOTICS (2003 Course) (402050) (Elective - II) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Answer three questions from Section - I and three questions 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. 5) Use of logarithmic tables, slide rule, mollier charts, electronic pocket calculator is allowed. SECTION - I Q1) a) b) c) d) Write a note on Robot Generations. Explain Robot Anatomy with the help of sketch. Explain difference between Repeatability and Accuracy. Explain the term Exoskeleton with suitable example. [6] [4] [4] [4] OR Q2) a) Following is a rotation matrix having only one incorrect element. Identify [8] and rewrite the matrix by correcting that element. 0.1636 0.1167 0.7231 0.4289 0.8679 0.2506 0.5415 0.4690 0.6977 b) Referring Figure 1, write following transformation matrices; A TD and [10] C TB Assume orientation of Z-Axes so that all coordinate systems will be right handed. P.T.O.

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Additional Info : 2003 Course
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