WE ETC/ECE 8 (E-Ill) — (4) (RC) B.E. (ETC/ECE) (Semester — Vill) (RC) Examination, May/June 2017 (E - Ill) INTRODUCTION TO ROBOTICS 8 Duration : 3 Hours Max. Marks : 100 Instructions: 1) Answer any five questions with at least one question from each Module. ~ 2) Assume any additional data, if necessary. MODULE —! 1. a) With the help of a schematic and control system block diagram, explain the design of a typical robot joint. 10 b) With a neat block diagram explain the Pneumatic drive system. List its advantages over other drive systems. 8 c) Why end effector is not considered a part of robot anatomy ? 2 2. a) Differentiate between limited sequence, playback and intelligent robots. 6 b) Write short notes on : i) Tools used as end effectors. ii) Vacuum grippers. 8 c) With neat sketches explain Accuracy, resolution and repeatability. 6 MODULE - II 3. a) With neat sketch explain the working of a force-torque sensor. 8 b) Which control loop will be most suitable for drilling and painting operations ? Justify your answer. 6 c) With neat diagram explain working of a servo DC motor. What are its advantages over stepper motor ? 6ETC/ECE 8 (E-Ill) - (4) (RC) 2 YANN 0 8 4. a) ADC tachometeris to be used as the velocity feedback device on a certain twisting joint. The joint actuator is capable of driving the joint at a maximum velocity of 0.75 rad/s and the tachometer constant is 8.0 V/rad/s. What is the maximum output voltage that can be generated by the device, if the tachometer is geared with joint so that it rotates with twice the angular velocity of the joint ? If the joint rotates at a speed of 25°s, determine the output voltage of the DC tachometer. 6 b) List and explain the desirable features of sensors. 8 ©) What are internal and external state sensors ? Give example of each. 6 MODULE - III 5. Two different style work parts travel down a conveyer and are positioned in a robot workstation for a certain processing operation. Two photocells are used to indicate that work parts have arrived in the workstation and to distinguish between the two styles. The operation of the photocells is as follows. The first photocell is actuated (on) when the part has arrived and is registered in place. The second photocell is actuated when part style A is located in place in the workstation and not actuated when style B is placed in the station. Using appropriate commands write a robot program that will call either of the two processing subroutines depending on which partis placed. The two subroutines are called by the statements CALL ASTYLE and CALL BSTYLE. Identify any other interlock and sensor requirements and incorporate them in your program. The program should repeat continuously. 20 6. a) Explain in detail the limitations of lead through method. 6 b) Whats teach pendant ? Draw a generic teach pendant and list down its basic functions. 8 ¢) Discuss the various program control and subroutine commands used in robot languages. 6{UIE 0 UA WE o ETC/ECE 8 (E-Ill) — (4) (RC) MODULE - IV 7. a) Write a note on sensing and digitizing image data. b) Write a note on lighting techniques. c) Explain with the help of a neat diagram working of a vidicon tube. 8. a) Compare wheeled robots and legged robots and comment on their stability. b) Write short notes on : 12 i) Bug algorithm. ii) Voronoi diagram. ili) Vector field histogram. iv) Approximate cell decomposition.