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1997 Course Robotics (Elective I)

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Total No. of Questions : 10] P1203 [Total No. of Pages :2 [3664] - 32 B.E. (E & TC) ROBOTICS (1997 Course) (404185) (Elective - I) Time : 3 Hours] [Max. Marks:100 Instructions to the candidates: 1) Answer any 3 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) Use of electronic pocket calculator is allowed. 6) Assume suitable data, if necessary. SECTION - I Q1) a) b) How robots are classified by control method? Give applications of each type. [10] Define the terms : i) ii) Pay load iii) Q2) a) Tip speed Degree of freedom iv) Work space. Explain rotary to nonlinear motion conversion technique. [8] [8] b) What is the function of gears in a robot? What are the different types of gears used in robotics? [8] Q3) a) Discuss the E-L formulation and its significance for a robotic manipulator. [8] b) Draw a neat sketch showing basic components of a robot system and explain. [8] Q4) a) b) Discuss homogeneous transformation in detail. [8] What is symbolic T matrix & Numeric T matrix. Discuss their significance in robotics. [8] P.T.O. Q5) a) b) Give D-H algorithm. Discuss its use in robotics. [8] Describe the Geometric approach for obtaining Inverse solution. [8] SECTION - II Q6) a) Explain the working stepper motor in full step and half step mode of operation. [8] b) Explain the principle of working of pneumatically controlled prismatic joint. [8] Q7) a) What types of motion are used in motion planning? R - R manipulator is at initial position (50 - 50) degrees. It is required to move to (100, 50) degrees. Joints have maximum acceleration / decceleration of (40, 80) degree / S2 respectively. Maximum velocity of joints is (30, 60) deg / sec. If the robot follows trapezoidal velocity pattern using joint interpolated motion, find the travel time and velocity of each joint. [10] b) What is need for external state sensors? Discuss one contact & Non contact proximity sensor. [8] Q8) a) b) Q9) a) b) Explain how potentiometer can be used to monitor joint position. [8] Explain how synchros are useful in robot. [8] Discuss typical specifications of a robot of any type. [8] Explain the palletizing operation using a robot. [8] Q10)Write notes on : [16] a) Harmonic Drive. b) Link and Joint parameters. c) Perspective Transformation. d) Grippers. kbkb [3664]-32 2

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