QP Code: 217053 ree No[ | [ TT TTT TTT) VEETHA ENGINEERING COLLEGE (Autonomous, Affiliated to Anna University, Chennai) B.E./B.Tech. End Semester Examinations — Nov/Dec 2021 (R2017) Seventh Semester Common to CSE and IT OTE7S1 - Robotics Time: Three hours Maximum marks: 100 Answer All Questions PART A (10 x 2=20 marks) 1. Name the commonly used robot configurations. What is meant by work volume? 3. List the advantages and dis-advantages of hydraulic drive. 4, What is end effector? Give some examples of Robot End Effector 5. Infer the types of light sensors in robot applications 6. Give the benefits of LVDT. 7. Classify the methods of Robot programming. 8. State the reason for homogeneous transformation. 9. Write the functions of work cell controller. 10. Define Payback period PART B (5x 13 = 65 marks) 11, (@)_ Gi) Sketch a robot wrist and indicate wrist piteh, wrist yaw and wrist roll (13) (ii) Explain about major parts ofa robot with their functions (OR) (b) Discuss in detail about various join configurations with a neat sketch. (3)12, 14, 16 @) (b) (a) (b) @ (b) @ (b) (@) (b) Explain vacuum grippers, with reference to the principle and applications. (13) (OR) Draw and explain the pneumatic circuit in detail, (13) Explain the working of an ultrasonic sensor with a neat sketch, (3) (oR) Explain how image segmentation helps to improve quality of images in vision system. (13) With a neat sketch explain the teach pendent in detail (13) (OR) Derive the forward kinematics of a 3 degree of freedom serial manipulator. (13) Explain with an example procedure of applying payback method in the economic (13) analysis of robot. (OR) What is meant by blocking in AGV? Explain the methods used in commercial AGV to (13) accomplish blocking. PART C = 15 marks) (Case study/Comprehensive type Questions) Explain anthromorphie scheme, polar, Cartesian, and Scar system in industrial (1s) application. (OR) Explain the working of magnetic gripper with a neat sketch followed by the activation (15) equation in detail.