Set No.

Code No.421001
IV-B.Tech. II-Semester Examination April, 2003 1
ROBOTICS AND AUTOMATION
(Common to Electronics and Instrumentation Engineering and Bio-Medical
Engineering)
Time: 3 hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---

1.a) Explain the terms Resolution, Accuracy, Repeatability, Payload and work volume
of an industrial robot.
b) Explain different types of manipulator configurations with neat sketches.

2.a) Sketch and explain a pneumatic circuit to control different motions of

i) Cylindrical robot.
ii) Cartesian robot.
b) Explain the characteristics of various electrical drives used for the robots.

3.a) What is intelligent robot? How does it differ from an ordinary robot?
b) What is robot vision? What are the types of vision sensors used to take the image
of an object?

4.a) Discuss the different types of grippers used in industrial robots.

b) Briefly explain the following sensors:
i) Tactile sensors
ii) Rank sensors.

5.a) What is known as inverse kinematics problem? Explain how to solve simple
inverse kinematics problem related to 6.d.o.f. robot.
b) Write the necessary steps required for solution of inverse kinematic problem using
hill climbing technique.

6.a) What are the advantages of off line programming languages of robots over other
teaching methods.
b) Explain the meaning of the following commands:
i) APPROACH (ii) DEPART (iii) SPEEDX

7.a) Discuss economic analysis as applied to industrial robots.

b) Why is it that a robot used for die-casting application cannot be used for welding.

8. Write short notes on the following:

a) Hill climbing technique.
b) Design considerations of grippers.
c) Asimov’s laws of robotics.
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 Set No.
Code No.421001
IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS AND AUTOMATION
2
(Common to Electronics and Instrumentation Engineering and Bio-Medical
Engineering)
Time: 3 hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---
1.a) Discuss the anatomy of Robot and explain the important parts of a robot with a
neat sketch.
b) State Asimov’s laws of robotics and how do you specify a robot.

2.a) Distinguish between tactile and non-tactile sensors. Give examples of each type.
b) What is robot vision? Explain two vision sensors used to take image of an object?

3.a) How do you select a drive for a given robot? Explain the various factors being
considered.
b) Explain with a neat sketch principle of working of a harmonic drive.

4.a) Draw the block diagram of an intelligent robot system and explain.
b) Sketch the robot grippers based on the following mechanisms
i) Slider crank mechanism.
ii) Rotary actuator.

5. Obtain the Jacobian matrix of the manipulator shown below

6.a) State differences between lead through programming and walk through
programming.
b) What are the advantages and disadvantages of off-line programming? Name four
of the well known off-line programming systems.

7.a) What is robotic work cell? Explain the design considerations of a robotic cell.
b) Explain the non-manufacturing areas of application of industrial robots.

8. Write short notes on the following:

a) Fibre optic sensors (b) Selection of robots (c) Dynamic stabilization of robots.
*** *** ***
 Set No.
Code No.421001
IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS AND AUTOMATION
3
(Common to Electronics and Instrumentation Engineering and Bio-Medical
Engineering)
Time: 3 hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---
1.a) Explain with neat sketches five important robot configurations.
b) Explain the following terms:
i) Accuracy
ii) Degree of freedom
iii) Repeatability
iv) Speed

2.a) What are the types of hydraulic actuators used in robotics? Explain their
characteristics.
b) Compare stepping motors with dc servomotors as robot drives.

3.a) Explain the following sensors used in robots

i) Range sensor
ii) Proximity sensor
b) How do you sense the positional accuracy of a robot? What is the suitable type of
sensors to measure the position? Explain.

4.a) Discuss three different types of mechanical grippers used in industrial robots.
b) Compare mechanical grippers with other types of grippers used in robots.

5.a) Explain the characteristics of the solution to the inverse kinematic problem.
b) Explain continuous path trajectory planning of a 6-axes robot.

6.a) Classify various teaching methods of robot and explain briefly each of them.
b) Explain the following statements in a robot programming language:
i) WAIT
ii) OPEN I
iii) DEPART X

7.a) What is robot cell? Discuss popular robotic cell layouts.

b) Enumerate the non-manufacturing areas where industrial robots are expected to be
used.

8. Write short notes on the following:

a) Homogeneous transformation (b) Hill climbing technique.
c) Fibre optic and tectile sensors.
*** *** ***
 Set No.
Code No.421001
IV-B.Tech. II-Semester Examination April, 2003
ROBOTICS AND AUTOMATION
4
(Common to Electronics and Instrumentation Engineering and Bio-Medical
Engineering)
Time: 3 hours Max.Marks:80
Answer any FIVE questions
All questions carry equal marks
---

1.a) What are ‘human form’ robots? And state 3-laws of Asimov on robots.
b) Sketch 6-degree freedom robot and state important parts and their functions.

2.a) How do you determine the HP of motor and gearing ratio for weist joint of an
articulated robot having 1kg pay load. Explain the procedure only.
b) Explain with a neat sketch the principle of working of an harmonic drive.

3.a) What is machine vision? Explain the techniques of image processing.

b) Explain the principle of working of the following sensors used in robots:
i) Range sensor (ii) Proximity sensor
iii) Tactile sensor (iii) Magnetic sensor

4.a) Define the following terms and compare their characteristics:

i) End effector (ii) Gripper (iii) Tool
b) Sketch and explain the servo controlled robotic system and how is it different
from feed forward servo.

5.a) Discuss the geometry based direct kinematic analysis of articulated robot.
b) What is homogenous transformation (HT) of coordinates? Write H.T matrices for
i) Translation in 3D space.
ii) Rotation in 3D.

6.a) What is robot software and what are the important points to be considered for
robot software?
b) Classify various teaching methods of robot and briefly discuss about each of
them.

7.a) How do you select robots for each of the following operations:
i) Machine loading
ii) Inspection
iii) Welding
b) Explain the factors to be considered in the design of the work cell.

8. Write short notes on the following:

a) Mobile robot (b) Jacobian matrix (c) Dynamic stabilization of robots.

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