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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. Q4) a) b) Q5) a) b) 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 0 60o 2 90o 0 3 90o 3 0 2 0 45o Determine the location of the end point of the link 3 with respect to the base. [8] Explain the Inverse kinematics associated with planar 3R manipulator.[8] Describe Force and Torque sensors used in robot. [8] Explain the concept of low vision and high vision associated with robot vision system. [10] OR Q6) a) b) With neat sketch explain any two electro-mechanically actuated grippers. [8] The following data represent a 8X8 array of pixel. Each element in array indicates the gray level of pixel. 10 17 17 19 19 17 19 12 13 17 18 19 19 19 18 13 14 15 11 19 19 15 10 14 13 10 11 2 20 11 11 13 12 12 12 2 21 12 11 12 11 12 12 19 19 12 10 12 12 18 18 18 20 18 19 11 12 19 19 18 22 20 19 12 Convert it into black and white image. [10] SECTION - II Q7) a) b) Explain the programming methods applied for robots. Describe the concept of Machine Intelligence. [10] [6] OR Q8) a) b) Explain WAIT , DELAY , SIGNAL , DEPART commands. [8] Describe the structure of any robot programming language with example. [8] [3864] - 182 -2- Q9) a) b) With neat sketch explain interfacing of robot with PC. Describe the following applications of robot : i) Spray painting. ii) Machine loading and unloading. [8] [8] OR Q10)a) b) What is handshaking? Explain software handshaking of robot. How will you check economic viability of industrial robot? Q11)Write a note on : a) One legged Robot. b) Distance controlled robots. [8] [8] [18] OR Q12)Write a note on : a) Underwater robots. b) Handling radioactive materials with robots. [3864] - 182 -3- [18]

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