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2.
3.
4.
5.
6.
7.
8.
9.
(5 x 12 = 60)
Register Number
SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)
Max. Marks:80
Time : 3 Hours
Session :AN
______________________________________________________________________________________________________________________
1.
PART - A
Answer ALL the Questions
What is the work envelope of a robot?
(10 x 2 = 20)
2.
3.
4.
5.
6.
7.
8.
9.
(5 x 12 = 60)
Register Number
SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)
______________________________________________________________________________________________________________________
PART - A
(10 x 2 = 20)
Answer ALL the Questions
1. Explain the three rules of robot.
2. Define the terms spatial and control resolution.
3. State the difference between vacuum and electromagnetic
gripper.
4. Differentiate between proximity and tactile sensors.
5. Derive the matrix that represents pure rotation in z-axis of the
reference frame.
6. A robot from a point (3,5,7)T was translated a distance (2,3,5).
Find the new location.
7. What are the classifications of robot programming?
8. What are the additional requirements for developing robot
programming?
9. What is robot cycle time?
10. Define the term robot cell.
PART B
Answer All the Questions
(5 x 12 = 60)
11. (a) Explain the robot configuration for (a) RRR and (b) TRR
(b) Briefly explain the terms work volume of robot manipulator.
(or)
12. (a) In a robot slide mechanism of total length of 0.7m. The robot
has control memory 10 bit capacity. The mechanical accuracy
associated with the moving arm is a random variable with
standard deviation 0.2mm. Determine the control resolution,
spatial resolution, accuracy and repeatability.
(8)
(b) Explain (a) Accuracy and (b) Repeatability
(4)
13. (a)With neat sketch explain mechanical grippers used in robot (8)
(b) Briefly explain wrist mechanism.
(4)
(or)
14. (a) Briefly explain contact and non-contact sensors.
(b) What are the problems connected with machine vision?
15. (a) Explain the different techniques used for memory reduction in
machine vision
(b) Briefly explain the drive systems used in robot.
(or)
16. (a) A point P (7,3,2)T and it is subjected to the transformation
described (a) a rotation of 90 about Y-axis (b) followed by a
translation [4,-3,7]. Find the coordinates of the point relative to
the reference frame.
(b) Derive inverse kinematics equations for two link planar
parallel manipulator.
17. (a) Briefly explain robot programming methods?
(b) Write a robot program for pick and place operation?
(or)
18. Write short notes on (a) Motion commands (b) End effectors
commands (c) Sensor commands?
19. With neat sketch explain Robot work cell design?
(or)
20. Briefly explain (a) Robot applications (b) Robot control.
Register Number
SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)
Max. Marks:80
Time : 3 Hours
Session :FN
_______________________________________________________________________________________________________________________________
PART - A
(10 x 2 = 20)
1.
2.
3.
4.
5.
6.
7.
8.
9.
SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)
______________________________________________________________________________________________________________________
PART - A
(10 x 2 = 20)
2.
3.
4.
5.
6.
7.
8.
9.
PART B
Answer All the Questions
(5 x 12 = 60)