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2003 Course Robotics & Industrial Automation

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Total No. of Questions : 12] [Total No. of Pages : 3 P1260 [3864]-269 B.E. (E&TC) ROBOTICS AND INDUSTRIAL AUTOMATION (2003 Course) (404218) 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) Compare 5 basic robot configurations according to the work envelope, typical applications & power sources. [10] What is SCARA robot? Explain the application in which it is most suitable. [8] OR Q2) a) Define & explain in brief the following terms : i) DOF. ii) [10] Precision. iii) Accuracy. iv) Tool orientation v) b) Reach & Stroke. Explain : i) Soft & Hard automation. ii) [8] Fixed & Flexible automation. P.T.O. Q3) a) b) Explain the conditions for existence of the Inverse Kinematic Solutions. Why the Inverse Kinematic Solutions are not unique? [8] For i) ii) iii) iv) the point 3i + 7j + 5k, perform following operations. [8] Rotate 30 deg about X-axis. Translate 8 units along Y-axis. Rotate 30 deg about X-axis and translate 6 units along Y-axis. Translate 6 units along Y-axis then rotate 30 deg about X-axis. OR Q4) a) Construct the link co-ordinate diagram using D-H algorithm for SCARA Tool robot & compute the arm matrix TBase (q). b) [8] Draw Joint & Link diagram and define : [8] i) Joint angle. ii) Joint distance. iii) Link length. iv) Link twist angle. Which is the variable parameter for revolute & prismatic joint? Q5) a) b) Name 4 different types of end effectors. Compare & contrast the end effectors from the view of their functions. [8] Discuss basic operational characteristics of following proximity sensors : [8] i) Inductive sensor. ii) Hall effect sensor. iii) Capacitive sensor. iv) Ultrasonic sensor. OR Q6) a) Which sensor can be used along with the gripper to sense whether the object is falling? Explain the working principle. [8] b) Draw a neat sketch of pneumatically controlled prismatic joint & explain. [8] [3864]-269 2 SECTION - II Q7) a) b) Explain how straight line motion can be achieved using an articulated robot. [10] Explain the term motion planning in robotics. Describe the types of motion used in motion planning. [8] OR Q8) a) b) Q9) a) b) What is Jacobian Control? Discuss the Jacobian in terms of D-H [10] matrices. What is the difference between path & Trajectory? Explain the term Trajectory planning along with proper sketch. [8] What are the template matching techniques of gray level image? Discuss their application to Robot Vision. [8] Draw neat sketch of robot system employing computer vision & discuss.[8] OR Q10)a) b) Q11)a) b) Explain the term Perspective Transformation in Robot Vision System. [8] Explain different structured illumination techniques used in Robot Vision System. [8] Explain the terms - MEMS & Microsystems. Discuss their applications. [8] What is Task Planning in robotics? Explain in detail. [8] OR Q12)Write notes on : a) Robot Intelligence. b) Nano robot. c) Forward solution. d) Actuators used in robotics. [16] vvvv [3864]-269 3

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