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2003 Course Robotics & Automation (Elective I)

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Total No. of Questions : 12] [Total No. of Pages : 4 P1275 [3864]-225 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. SECTION - I Q1) a) b) Differentiate between fixed, flexible and programmable automation stating clearly their application area. [8] Write a short note on the basic components of robot. [8] OR Q2) a) b) Q3) a) With the help of block diagram, explain basic concept of CNC machine and its industrial applications. [8] Explain following robot like devices with the help of neat diagram[8] i) Prostheses. ii) Telecherics. Explain the concept of end effector, tool frame, tool point, roll, pitch, yaw with the help of neat diagram. [6] P.T.O. b) Explain the concept of work volume and work envelope for the following types of robots. [10] i) Cartesian Robot. ii) Cylindrical Robot. iii) Spherical Robot. Is there any relation between their work envelope and their industrial applications. Explain. OR Q4) a) b) Compare point to point, continuous path and pick-place robots. Write a note on selection of drive for robot applications. Q5) Write a note on (any 3) : a) Two methods of rotary to rotary motion conversion. b) Two methods of rotary to linear motion conversion. c) Lagrangian analysis. d) Mechanical grippers. [8] [8] [18] OR Q6) a) Explain the concept of robot arm kinematics and dynamics with the help of block diagram. [9] b) Derive a set of dynamic equations for a single prismatic joint working against gravity using Lagrangian method. [9] SECTION - II Q7) a) b) Draw a neat diagram of Puma Robot explaining the degrees of freedom. Also show all the co-ordinate frames attached to the robot.[10] For the robotic tool shown in Figure 7b, suppose we yaw the tool by radians about x axis, then pitch the tool by /2 radians about new y axis and finally roll the tool by /2 radians about new z axis. [8] i) Sketch the sequence of tool positions after each of the yaw, pitch and roll movements. ii) Find the transformation matrix T which maps tool coordinates into wrist coordinates. [3864]-225 2 OR Q8) a) b) Define D-H parameters with the help of neat diagram. [8] Frames A,B,C and D are attached to the corners of a cuboid as shown in Figure 8b. Using the concept of homogeneous transformation matrix, [10] find TAB, TAC, TBC, TAD. Q9) Write a note on the following industrial applications of robots (Details of selection criteria, sensors, drives, method of control and peripheral devices). a) Part sorting and inspection. [16] b) Welding. c) Spray painting. d) Grinding. [3864]-225 3 OR Q10)a) Explain the concept of inverse kinematics, its importance and problems associated with it. [8] b) Explain direct method and geometric method to solve inverse kinematics problem stating clearly their advantages and disadvantages. [8] Q11)Explain with the help of block diagram : a) JPC (Joint Position Control). b) RMPC (Resolved Motion Position Control). c) RMRC (Resolved Motion Rate Control). [5] [5] [6] OR Q12)Write a note on : a) Online and Offline programming. b) Teach pendant. c) Classification of robot languages. vvvv [3864]-225 4 [4] [4] [8]

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