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2003 Course Robotics (Elective II)

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Total No. of Questions : 12] [Total No. of Pages : 3 [3864] - 182 P 1052 B.E. (Production Engg.) ROBOTICS (2003 Course) (Elective - II) (411090) Time : 3 Hours] [Max. Marks : 100 Instructions to the candidates: 1) Attempt Q.1 or Q.2, Q.3 or Q.4, Q.5 or Q.6 from Section I and Q.7 or Q.8, Q.9 or Q.10, Q.11 or Q.12 from Section II. 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. SECTION - I Q1) a) b) What is the basic structure of Industrial Robot? What are advantages of this structure for its applications? [8] Explain the six degrees of freedom associated with the manipulator. [8] OR Q2) a) b) Q3) a) b) Explain classification of Robots with neat sketches of their work volumes. [12] How are accuracy and repeatability of any robot decided? [4] For a pick and place type of robot, the link parameters table is given below : ai 1 di i i 1 i 1 0 0 2 0o 2 90 0 0 30o 3 0 5 2 90o Determine the location of the end point of the link 3 with respect to the base. [8] Explain the forward kinematics associated with planar 3R manipulator. [8] OR P.T.O.

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