Enrolment No:

Institute of Infrastructure Technology Research and Management,

Ahmedabad – 380026, Gujarat

B. Tech. Mid Semester: 2020-2021 (11 Oct 2020)

Date: 11 October 2020 Time: 2 hours Total Marks: 50

Course Code: ME 184002 Course Name: Robotics and Industrial Automation

Instructions:
1. Assume suitable data wherever essential and mention it clearly.
2. Use appropriate scale.
3. Every Question has equal marks

Que 1: Write the DH Parameter table by taking appropriate convention for the following robot.
write individual transformation matrix. 10

Fig. PUMA 560 and its frames

Que 2: What is inverse kinematics and forward kinematic? Explain by using following figure
and Mathematical Expressions. 10
Que 3: Explain the role of Actuators in robot and explain the working of DC servo motors and
stepper motors used in robotics. 10

Que 4: Explain the concept of the artificial muscle and discuss the future development in this
area. 10

Que 5: What is sensor. Explain all different kind of sensor used in modern Cars. 10