*SLRKM120* SLR-KM – 120

Set A
S e a t

N o .

B.E. (Mechanical) (Part – I) (New) Examination, 2015

Elective – I : INDUSTRIAL ROBOTICS

Day and Date : Monday, 14-12-2015 Max. Marks : 100

Time : 3.00 p.m. to 6.00 p.m.

Instructions : 1) Solve any two questions from the Section I and II.
2) Draw neat diagram where necessary.
3) Wherever needed presume suitable assumptions and data.
4) Question no. 1 is compulsory. It should be solved in first 30 minutes
in Answer Book Page No. 3. Each question carries one mark.
5) Answer MCQ/Objective type questions on Page No. 3 only.
Don’t forget to mention, Q.P. Set (A/B/C/D) on Top of Page.

MCQ/Objective Type Questions

Duration : 30 Minutes Marks : 20

1. Select the correct alternative : (20×1=20)

1) Fixed automation is used when the volume of production is very
a) High b) Low c) Medium d) None of these
2) The usual advantages of the hydraulic drive system are that it provides the robot
with
a) Greater speed and strength b) Lower speed and strength
c) Medium speed and strength d) None of these
3) PWM is used for Dc motor ________ control with microprocessor.
a) Force b) Torque c) Speed d) None of these
4) Going from world space to joint space is called the forward reverse transformation.
a) Forward b) Reverse
c) Forward/Reverse d) None of the above
5) Straight Line interpolation motion requires the end of the manipulator to travel
along a ________ straight path defined in Cartesian coordinates.
a) Straight b) Circular
c) Non linear d) None of the above
6) Robot Dynamics is concerned with the analysis of torques and forces due
a) Acceleration and deceleration b) Acceleration
c) Deceleration d) None of the above

P.T.O.
SLR-KM – 120 -2- *SLRKM120*
7) Motion commands are executed by controller from two possible sources :
operator input or
a) Program memory b) External devices
c) Peripherals d) None of the above
8) In a binary image the gray level values are divided into ________ categories.
a) Two b) Four c) Eight d) None of the above
9) Sampling rate should be atleast _______ the highest frequency in the video signal.
a) Twice b) Thrice c) Four times d) None of the above
10) Stepper motor with 50 teeth on the rotor and 40 teeth on the stator will result in a
_________ step angle with 200 steps per revolution.
a) 90 degree b) 1.8 degree c) 180 degree d) None of these
11) Log is a ________ edge detector.
a) First order b) Second order
c) Third order d) None of the above
12) Digitizing the coordinates of the image is called
a) Sampling b) Framing c) Quantization d) Both a) and b)
13) Process of segmentation includes
a) Noise reduction b) Divide the image
c) Object recognition d) All of the above
14) Which of the following is specifically designed for high speed assembly operations ?
a) Spherical b) Cylindrical c) SCARA d) Cartesian
15) The most preferred function for trajectory generation are ________ polynomials.
a) Quadratic b) Cubic c) Parabolic d) All of the above
16) ________ is the technique which relates the location of pixels in the image array
to the points in the scene.
a) Camera specifications b) Camera design
c) Camera calibration d) Camera isolation
17) The minimum number of wheels required for good static and dynamic balance (in
both X and Y directions) is
a) 1 b) 2 c) 3 d) 4
18) The degree of steer ability of a typical automobile is
a) 0 b) 1 c) 2 d) 3
19) The stability of robot systems is defined by __________ method.
a) Liapunov’s b) Shapurov’s c) Makarov’s d) Azmanov’s
20) Fluid power systems are preferred for continuous control because
a) Allows linear movements at high speeds over longer lengths
b) Maintains system under load with excessive use of control devices
c) Higher bandwidth
d) All of the above
______________
Set A
*SLRKM120* -3- SLR-KM – 120
S e a t

N o .

B.E. (Mechanical) (Part – I) (New) Examination, 2015

Elective – I : INDUSTRIAL ROBOTICS

Day and Date : Monday, 14-12-2015 Marks : 80

Time : 3.00 p.m. to 6.00 p.m.

Instructions : 1) Solve any two questions from the Section I and II.
2) Draw neat diagram where necessary.
3) Wherever needed presume suitable assumptions and data.

SECTION – I

2. a) Discuss the following characteristic of robot

i) Speed of response ii) Stability
iii) Spatial resolution iv) Accuracy
v) Repeatability vi) Compliance. 8
b) What are the different types of drive systems used for robotics ? 6
c) Explain different types of configuration and wok envelops of robot. 6

3. a) Expliain with diagram Robot vision system. 6

b) What is “end effecter” and pay load capacity ? Explain different types of grippers,
robotics. 6
c) The co-ordinates of point P are [3, 3, 1]. Find co-ordinates of new position of
point P if 8
i) P is rotated about Z axis by 45°
ii) P is rotated about Y axis by 60°
iii) P is rotated about X axis by 30°

4. Write short notes on (Each 5 marks).

i) Pulse Width Modulation (PWM) Control D.C. Motors.
ii) Stepper Motor Principle of operation.
iii) Flexible automation.
iv) Robot specifications. (5×4=20)

Set A
SLR-KM – 120 -4- *SLRKM120*

SECTION – II

5. a) What is image segmentation process ? Explin different types of image

segmentation with an example. 8
b) What is meant by AGV in robotics ? Explain in detail with its advantages. 6
c) Explain the applications of robots in different welding areas in the production
assembly line. 6

6. a) Explain in detail the different types of mobile robots with suitable example. 8
b) Explain in detail the localisation of mobile robots. 6
c) Which are the different robot programming languages used in robotics and explain
any two in detail ? Compare the online and offline robot programming
method ? 6

7. Write short notes on (Each 5 marks) :

a) Robot control architecture.
b) Line scan and area scan camera.
c) UGV robots.
d) Robot application in spray painting. (5×4=20)

_____________________

Set A