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2003 Course Mechatronics & Robotics

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Total No. of Questions : 12] [Total No. of Pages : 4 [3864] - 192 P 1055 B.E. (Production S/W Engg.) MECHATRONICS & ROBOTICS (2003 Course) (411121) 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) Use of electronic pocket calculator is allowed. 5) Assume suitable data, if necessary. SECTION - I Q1) a) b) Represent and explain in detail the following terms of a mechanical system; using basic building blocks : [9] i) Stiffness ii) Friction and iii) Inertia. Compare and Contrast the control system for the domestic central heating system involving a bimetallic thermostat and that involving a microprocessor. [9] OR Q2) a) b) Q3) a) b) Differentiate between Low-pass Passive Filter and Low-pass Active Filter. [2] Discuss the following with neat sketches : [16] i) Instrumentation amplifier ii) Optoisolators iii) Comparators iv) Pulse amplitude modulation. Draw a neat sketch of 8085 internal architecture. Explain the following : i) Karnaugh maps ii) Digital Comparator iii) D flip-flop. [4] [12] P.T.O. OR Q4) a) b) Q5) a) b) Draw a neat block diagram of Microcomputer and explain each block. [10] Explain the functions of : [6] i) Program Counter ii) Stack Pointer iii) General Registers. What do you understand by Assembly Language ? Define mnemonics. [4] Explain the following instructions with an example : [12] i) MOV destination register, Source register ii) LXI B, memory location iii) LDA memory location iv) MVI destination register, data value. OR Q6) a) b) c) What do you understand by one byte, two byte and three byte instructions? [6] Give example of each. [4] Explain the functions of the Pins : i) Hold ii) Trap iii) Ready iv) X1 and X2. Write an Assembly language program in 8085 to add 2-8 bit numbers. [6] SECTION - II Q7) a) Devise a circuit that could be used with a conveyor belt which is used to move an item to a work station. The presence of the item at the work station is detected by means of breaking a contact activated by a beam of light to a photosensor. There it stops for 100s for an operation to be carried out before moving on and stops the conveyor. The motor for the belt is started by a normally open start switch and stopped by a normally closed switch. [8] [3864] - 192 -2- b) c) A thermocouple element when taken from a liquid at 50oC and plunged into a liquid at 100oC at time t = 0, gave the following e.m.f. values. Determine the 95% response time. [2] Time (s) 0 20 40 60 80 100 120 e.m.f. (mV) 2.5 3.8 4.5 4.8 4.9 5.0 5.0 Explain any two of the following : [6] i) Tachogenerator ii) PVDF Tactile Sensor iii) Phototransistors iv) Pneumatic Proximity Sensor. OR Q8) a) b) Explain the following with respect to PLC : i) Input/Output Processing ii) Cascaded Timers iii) Counters iv) Starting of multiple outputs. Explain the following with neat figure and application : i) Turbine Flowmeter ii) Bimetallic Thermostat iii) Strain Gauges iv) Rotary Variable Differential Transformer. Q9) Explain following with neat diagram : a) Relays b) MOSFETs c) Control of d.c. motors d) Cam and Cam followers. [8] [8] [16] OR Q10)Explain following with neat diagram : a) Valve symbols b) Process Control Valves c) Journal bearings d) Fluid control system through Current to Pressure converter. [3864] - 192 -3- [16] Q11)a) b) Discuss in detail; any four Sensors and Actuators used in Robots with appropriate applications. [16] Define Yaw, Roll and Pitch of a Robot wrist? [2] OR Q12)a) b) What is a pay load? State its role in Robot design. [6] With a neat sketch explain the following Robots and mention their applications : [12] i) Gantry Robot ii) Cylindrical Robot iii) Polar Robot. [3864] - 192 -4-

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