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2003 Course Robotics (Elective II)

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Total No. of Questions : 12] [Total No. of Pages : 3 [3664] - 164 P 1344 B.E. (Production Engg.) ROBOTICS (2003 Course) (411090) (Elective - II) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Answer 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 books. 3) Neat diagrams must be drawn wherever necessary. 4) Figures to the right indicate full marks. SECTION - I Q1) a) b) What is the basic structure of Industrial Robot? What are advantages of this structure for its applications? [8] Explain the six degrees of freedom associated with the manipulator. [8] OR Q2) a) b) Q3) a) b) Define Robot. Explain with time period the development process in each robot generation. [8] Find the worst spatial resolution of a spherical robot with 600 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] For a pick and place type of robot, the link parameters table is given below : ai-1 di i i 1 i 1 0 0 0 30o 2 -90 0 2 0o 3 0 5 0 90o Determine the location of the end point of the link 3 with respect to the base. [8] Explain the forward kinematics associated with planar 3R manipulator. [8] OR P.T.O. Q4) a) b) Q5) a) b) For a pick and place type of robot, the link parameters table is given below : i ai-1 di i 1 i 1 0 0 0 45o 2 -90o 0 2 -90o 3 0 3 0 60o Determine the location of the end point of the link 3 with respect to the base. [8] Explain the Inverse kinematics associated with planar 3R manipulator. [8] Describe Proximity and Range sensors used in robot. [8] Explain the concept of low vision and high vision associated with robot vision system. [10] OR Q6) a) b) With neat sketch explain any two electro-mechanically actuated grippers. [8] The following data represent a 8 X 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 20 22 12 Convert it into black and white image. [10] SECTION - II Q7) a) b) Explain the lead through programming method used in robots. How intelligence can be incorporated in robots. [8] [8] OR Q8) a) b) Explain WAIT , DELAY , SIGNAL , DEPART commands. [8] Describe the structure of any robot programming language with example. [8] [3664] - 164 -2- Q9) a) b) With neat sketch explain interfacing of robot with PC. Describe the following applications of robot : i) Arc welding. ii) Machine loading and unloading. [8] [8] OR Q10)a) b) What is handshaking? Explain hardware handshaking of robot. What do you understand from robot economics? Q11)Write a note on : a) Walking robots. b) Distance controlled robots. [8] [8] [18] OR Q12)Write a note on : a) Underwater robots. b) Robots used in mines. [3664] - 164 [18] -3-

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