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Nr 421001 Robotics and Automation

Nr 421001 Robotics and Automation

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Published by Srinivasa Rao G

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Published by: Srinivasa Rao G on Jan 18, 2008
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10/23/2012

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Code No.421001IV-B.Tech. II-Semester Examination April, 2003ROBOTICS AND AUTOMATION(Common to Electronics and Instrumentation Engineering and Bio-MedicalEngineering)Time: 3 hoursMax.Marks:80Answer any FIVE questionsAll questions carry equal marks---
1.a)Explain the terms Resolution, Accuracy, Repeatability, Payload and work volumeof 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 imageof an object?4.a)Discuss the different types of grippers used in industrial robots.b)Briefly explain the following sensors:i)Tactile sensorsii)Rank sensors.5.a)What is known as inverse kinematics problem? Explain how to solve simpleinverse kinematics problem related to 6.d.o.f. robot.b)Write the necessary steps required for solution of inverse kinematic problem usinghill climbing technique.6.a)What are the advantages of off line programming languages of robots over otheteaching methods.b)Explain the meaning of the following commands:i) APPROACH(ii) DEPART(iii) SPEEDX7.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)Asimovs laws of robotics.*** *** ***
Set No.
1
 
Code No.421001IV-B.Tech. II-Semester Examination April, 2003ROBOTICS AND AUTOMATION(Common to Electronics and Instrumentation Engineering and Bio-MedicalEngineering)Time: 3 hoursMax.Marks:80Answer any FIVE questionsAll questions carry equal marks---
1.a)Discuss the anatomy of Robot and explain the important parts of a robot with aneat 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 beingconsidered.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 mechanismsi)Slider crank mechanism.ii)Rotary actuator.5.Obtain the Jacobian matrix of the manipulator shown below6.a)State differences between lead through programming and walk through programming.b)What are the advantages and disadvantages of off-line programming? Name fouof 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.
2
 
Code No.421001IV-B.Tech. II-Semester Examination April, 2003ROBOTICS AND AUTOMATION(Common to Electronics and Instrumentation Engineering and Bio-MedicalEngineering)Time: 3 hoursMax.Marks:80Answer any FIVE questionsAll questions carry equal marks---
1.a)Explain with neat sketches five important robot configurations.b)Explain the following terms:i)Accuracyii)Degree of freedomiii)Repeatabilityiv)Speed2.a)What are the types of hydraulic actuators used in robotics? Explain theicharacteristics.b)Compare stepping motors with dc servomotors as robot drives.3.a)Explain the following sensors used in robotsi)Range sensoii)Proximity sensob)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)WAITii)OPEN Iiii)DEPART X7.a)What is robot cell? Discuss popular robotic cell layouts.b)Enumerate the non-manufacturing areas where industrial robots are expected to beused.8.Write short notes on the following:a)Homogeneous transformation(b) Hill climbing technique.c)Fibre optic and tectile sensors.*** *** ***
Set No.
3

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