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2003 Course Robotics & Industrial Automation

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Total No. of Questions : 12] [Total No. of Pages : 3 P1259 [3864]-255 B.E. (Electronics) ROBOTICS & INDUSTRIAL AUTOMATION (2003 Course) (404212) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Attempt Q1 or Q2, Q3 or Q4, Q5 or Q6, Q7 or Q8, Q9 or Q10, and Q11 or Q12. 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) Define the following terms related to robotic manipulators and give brief comments. [10] i) Repeatability ii) Precision. iii) Accuracy. iv) Kinematic Parameters. v) Tool path & trajectory. Explain : [8] i) Soft & Hard automation. ii) Fixed & Flexible automation. OR Q2) a) b) How does the SCARA arm geometry differ from the vertical articulated arm? Why is the SCARA arm more ideal for assembly applications?[10] What is work envelope? Discuss the work envelopes of 5 basic robot configurations. [8] P.T.O. Q3) a) Discuss the steps for obtaining forward solution of a robotic manipulator and explain. [8] b) What is Inverse kinematic solution? Why the Inverse kinematic solutions are not unique? [8] OR Q4) a) b) Explain Screw Transformations. [8] For the point 2i + 4j + 6k, perform following operations. [8] i) Rotate 45 deg about x-axis. ii) Translate 6 units along y-axis. iii) Rotate 60 deg about x-axis & translate 2 units along y-axis. iv) Translate 4 units along y-axis then rotate 30 deg about x-axis. Q5) a) List different types of end effectors. Explain the selection criterion for each type for various applications. [8] b) Discuss the Lift & Tray Technique for slip detection with neat diagram. [8] OR Q6) a) Explain the working principle of proximity rod tactile sensor with neat sketch. [8] b) Draw a neat sketch of pneumatically controlled prismatic joint & explain. [8] SECTION - II Q7) a) What is Jacobian Control? Discuss the Jacobian in terms of D-H matrices. [10] b) What is motion planning in robotics? Discuss the types of motion used in motion planning. [8] OR [3864]-255 2 Q8) a) Discuss how straight line motion is obtained using an articulated robot. [10] b) Define trajectory of a robot. Give advantages & disadvantages of defining trajectory using work space coordinates & joint space coordinates. [8] Q9) a) Describe different Segmentation Algorithms used in Robot Vision System. [8] b) What is image smoothening? Explain how it is done on a binary image. [8] OR Q10)a) Explain Image Analysis Algorithm with suitable example. [8] b) Draw neat sketch showing robot system with computer vision & explain. [8] Q11)a) Describe MEMS as microsensor & microactuator with the help of neat block diagram. [8] Explain in detail, how object recognition is done in robotics. [8] b) OR Q12)Write notes on : a) Specifications of Robot. b) Task planning. c) Link & Joint parameters. d) Nano robot. [16] vvvv [3864]-255 3

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