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1.

Answer ALL the Questions


How Robots are classified?

2.

What are the functions of manipulator?

3.

What are the major Components of Robots?

4.

What is meant by Range Sensing?

5.

What are the properties of rotation matrices?

6.

How end-effectors are specified?

7.

What are characteristics of robot level languages?

8.

How robots sensors are classified?

9.

What are the applications of robots in welding?

10. Define: Robot cell.


PART B
Answer ALL the Questions

(5 x 12 = 60)

11. Explain Accuracy and repeatability of robots.


(or)
12. Explain step by step historical development of robot.
13. What are the feedback devices commonly using in the robots?
(or)
14. Explain Hall-Effect sensors with neat sketch.
15. Derive Kinematics equations for manipulators.
(or)
16. Explain the followings:
(a)Rotating coordinate system
(b)Moving Coordinate System
17. Explain various characteristics of Task-Level languages.
(or)

18. Explain the followings:


(a) First and second generation language.
(b) End effectors and sensor commands.
19. Explain the various applications of robot in material handling.
(or)
20. What are the applications of robot in machining?

Register Number

SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)

Course & Branch :B.E - P-MECH


Title of the Paper :Robotics
Sub. Code :615PTE04(2007-08-09)
Date :11/05/2012

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.

What is flexible automation?

3.

Name five different types of robot end effectors.

4.

What are the different types of sensors?

5.

Define reverse kinematics.

6.

Define derivative control.

7.

Write about RAIL.

8.

Write three major classes of Robot language.

9.

What are the near term applications of robots?

10. What is a teleoperated robot?


PART B
Answer All the Questions

(5 x 12 = 60)

11. What is point-to-point control in a robot? Distinguish between


joint interpolated motion and controlled path motion. Which
method of motion control would be the best for spray painting by
the robot?
(or)
12. Distinguish between tactile and non-tactile group of sensors used
in robots. State three types of sensors for each group.
13. With the aid of a sketch describe briefly the mounting of a
welding torch gun on a robot wrist.
(or)
14. Distinguish between CID and CCD cameras. How does a Vidicon
Camera work? Distinguish between line scan and area scan
vision sensors.

15. Describe (a) positions (b) orientations


(or)
16. Explain the transformations of free vectors.
17. Distinguish between first generation and second generation robot
languages.
(or)
18. Describe briefly the robot language elements and functions.
19. Illustrate a robot cell for loading and unloading a die casting
machine, a trim press and a quench tank all working together.
Parts are fed to the chute for onward transmission to the part
presented from which the robot picks up the parts.
(or)
20. What are the important characteristics to be added to the existing
commercial robots to improve them for using in the factory of
future? Suggest a good robot system plan.

Register Number

SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)

Course & Branch :B.E - P-MECH


Title of the Paper :Robotics
Sub. Code :615PTE04
Date :04/05/2011

Max. Marks :80


Time : 3 Hours
Session :AN

______________________________________________________________________________________________________________________

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)

Course & Branch :B.E - P-MECH


Title of the Paper :Robotics
Sub. Code :615PTE04 (2007-08-09)
Date :14/11/2011

Max. Marks:80
Time : 3 Hours
Session :FN

_______________________________________________________________________________________________________________________________

PART - A

(10 x 2 = 20)

1.

Answer ALL the Questions


What is an industrial robot?

2.

Define work volume.

3.

Name the types of joints in a Robot.

4.

What are grippers?

5.

What types of motions that a Robot manipulator can make?

6.

What is an orthonormal transformation?

7.

Why defining points in a program is important?

8.

What are the significant features of second generation languages?

9.

List the advantages and benefits of Robot arc welding.

10. Mention the parts presentation methods in assembly and


inspection.
PART B
(5 x 12 = 60)
Answer All the Questions
11. Illustrate the four common robot configurations with neat
sketches.
(or)
12. Discuss the features that are responsible for the precision of the
robots movement.
13. With the aid of block diagram describe the Robot joint control
design.
(or)
14. List the types of sensors and their role in Robotics.

15. Explain the forward and reverse transformations of a 2- Degree


of freedom arm.
(or)
16. Derive the basic rotation matrices for reference and bodyattached coordinate systems.
17. Illustrate the branching in robot programs with suitable examples.
(or)
18. Write a program to instruct the robot to pick up bottles from a
fixed location on a conveyor and insert them into a cardboard
carton. A mechanical stop along the conveyor is used to locate the
parts in a known position. The bottles are to be loaded in to the
carton about 300mm away from the pick up point. Each carton
holds two pars. Open cartons are
presented to the robot and
then subsequently closed and sealed at a different location. The
open cartons are 100mm tall and measure 125mm x 250mm. The
bottles to be loaded are 112.5mm diameter. Make a sketch of the
workstation before programming and identify the various points
used in the program. This sketch would be used by a technician to
subsequently set up the workstation.
19. Summarise the Robot material handling applications.
(or)
20. How is Robot work cell layouts classified? Explain in brief.

SATHYABAMA UNIVERSITY
(Established under section 3 of UGC Act,1956)

Course & Branch :B.E - P-MECH


Title of the Paper :Robotics
Sub. Code :615PTE04
Date :22/04/2010

Max. Marks :80


Time : 3 Hours
Session :AN

______________________________________________________________________________________________________________________

PART - A

(10 x 2 = 20)

Answer ALL the Questions


1.

Define Repeatability of Robots.

2.

What is meant by Spatial Resolution?

3.

Define Degrees of freedom.

4.

What is meant by Machine Vision?

5.

What is meant by Manipulator?

6.

Define Inverse Kinematics.

7.

Define Sensor commands.

8.

What is meant by Task level languages?

9.

What is meant by Remote Environment?

10. Define Work Cell Design

PART B
Answer All the Questions

(5 x 12 = 60)

11. Write a brief note on Basic elements of Robots.


(or)
12. Explain in detail about History of Robotics.
13. Write a brief account on Wrist Configuration with sketches.
(or)
14. Explain in detail with neat sketches about Drive systems.
15. Write a brief note on Orientations.
(or)
16. Explain in detail about Rotation Matrix
17. Write a brief note on DELAY Commands with sketches.
(or)
18. Explain the different methods of Robot Programming online.
19. What is a Robotic cell? Draw a Robotic cell and label all the
parts.
(or)
20. Write a brief note on Robot applications in Welding.