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2003 Course Robotics & Automation (Elective I)

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Total No. of Questions : 12] [Total No. of Pages : 3 [3664] - 182 P 1345 B.E. (Electrical) ROBOTICS & AUTOMATION (2003 Course) (Elective - I) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Answers to the two sections should be written in separate books. 2) Neat diagrams must be drawn wherever necessary. 3) Figures to the right indicate full marks. 4) Your answers will be valued as a whole. 5) Use of logarithmic tables, slide rule, Mollier charts, electronic pocket calculator and steam tables is allowed. 6) Assume suitable data, if necessary. 7) All questions are compulsory. SECTION - I Q1) Write a note on a) History of robotics. b) Robot like devices. [16] OR Q2) a) b) Q3) a) b) Describe different components of a typical robot system explaining their [10] function with the help of a block diagram. Compare CNC machines with robots. [6] Explain in details, classification of robots according to the form of motion. Discuss example of each class in brief. [9] Discuss selection criteria for drive technology in robot. Hence compare hydraulic and electric drive technology stating their applications. [9] OR Q4) a) b) c) Q5) a) b) With the help of neat diagram, explain the concept of roll, pitch yaw. Explain the concept of degree of freedom with suitable example. Compare servo controlled and non-servo controlled robots. and [5] [5] [8] Explain how Lagrangian analysis can be applied for a single prismatic [8] joint working against gravity. What are the different types of end effectors? With the help of a neat diagram, explain any two end effectors. [8] OR P.T.O. Q6) Explain different methods of motion conversion for rotary to rotary and rotary to linear motion. [16] SECTION - II Q7) a) b) A point P in space is defined as BP = [5 3 4]T relative to frame B and is attached to the origin of the reference frame A and is parallel to it. Apply the following transformations to frame B and find AP. o i) Rotate 90 about the x axis. ii) Then translate 3 units about the y axis and 6 units @ the z axis and 5 units @ x axis. o iii) Then rotate 90 @ the z axis. [8] Draw a neat diagram of PUMA robot explaining its degrees of freedom. Also show all the co-ordinate frames attached to the robot. [10] OR Q8) a) b) Q9) a) b) Explain the concept of hand matrix with the effect of pre and post multiplication of a hand matrix by basic matrix operators. [8] The link parameter table of a 3 axis articulated robot arm with 3 revolute joints is given below. d a Joint 1 0 0 -90 1 2 0 2 14.91 43.18 3 0 -2.03 90 3 Determine co-ordinates of the tool-centre point w.r.t. base co-ordinate [10] frame if 1 = 90 o , 2 = 0 o & 3 = 90 o Compare algebraic method with geometric method for solution of inverse kinematics problem. [6] The link parameter table of a R manipulator working in a horizontal plane with its axis parallel to the phase of the paper is given below. Joint d a o o 1 180 d1 0 90 o o 2 0 R 0 0 1 = Rotary joint variable, R = Prismatic joint variable. i) Draw the diagram showing link co-ordinate systems and joint parameters. ii) Write the A matrices for the manipulator and hence determine its inverse solution. [10] [3664] - 182 -2- OR Q10)a) Derive forward kinematics and hence inverse kinematics solution for a planar manipulator shown in figure 10.1, where the joint parameters are 1 & 2 and link parameters are l1 & l2. (Hint : Find the tool point (x, y) in terms of l1, l2, 1 , 2 for forward kinematics) [8] b) Write a note on use of robot in the following industrial applications [8] i) Nuclear and fossile fuel power plants. ii) Spray painting. Q11)a) Describe the role of inverse kinematics in resolved motion position control (RMPC) of robotic joint. Illustrate your answer by drawing the block diagram of the RMPC scheme. [8] The hand matrix of a manipulator is given by b) 0 1 T= 0 0 0 0 1 0 1 0 0 0 2 4 3 1 Determine the change in the hand matrix due to a differential rotation of 0.1 radian about the approach vector followed by a differential translation [0.1 0.3 0.2]T w.r.t. the tool point. [8] OR Q12)Write a note on a) Classification of robot specific languages. b) Teach pendant. [3664] - 182 -3- [16]

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