Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
/{-\
s .^r
nrarrcl P+x
[a
ta-/ ]o
n
va
lr 6 ii o
+ &+
t Sr
xi't# 6.'.
0c
[6 MarksJ
3
[7 tWarks]
(c) write an equation in term
ofA nnatrix for last coordinate frame.
\l
V 'l -- 'l FMarksl
":+-
I
A t, - .^l I I
/ 1c.- - 1 \ t - / 'l-. ":
,,-,. I .. 1
,.-l .. :- i /
-4(/t
lloqr"asi ai , VLr{i r..1 , Df qq .,o. o.[
J
0 PIart$J
plain the purpgses and techurig'e
of edge detecfion on an image.
Pqpwit+ f r\otoyr p' t-
L"opl ae-e
n
t t. , tT lvrarkbJ
b. For: l0x lo binary
l0 x I0 hine.t"'*.o^o :,- r,.-''^1-et1-rilL-l - ceqrcl'
^r^ -- in
i'-iase shoum Fig- ,1"!^i;,{t;?:-"rtff?fo*
/.-.\-.. .'.
,
i\ Mome,n{ M0}qbour.fhg origia
.i.-a--
--*'-----.r'
j tSeArrcl
ii. Lscafie+fhe center of.area:
{{r i crrl-f
,..ri..i.>
'[s iiaarksl
tl,-l-,-+qt
.
i
on appendix)'
forlowing: (Refer additional information
For this arm do the
(a) determine the nglqbgl of pg.lses required to move the 1apl9 by the.specified distance.
t'5 d:3s,u,35g,7,5 h?-r.gA r(il{Ho") (TMarks)
I
rq, qd o(
(b)Calculatett'.',andpgFerateIoachievethedesiredtable
=.g
velocitv'gr V{_"r,.s n9
-. r J::{-_,|gg} , J?_"f_f2 (TMarks)
6'p* 6 * { rz}
(c) If input frequency for the system is 10 KHz and accumulator widffiJJ0] determine
the register value to drive the axis at specified speed.
(6 Marks)
f+ Go: vt hs tg
lQ4 20 Marksl
(a) The welding position is an essential issue in both manual and robotic welding.
Explain the reason why the weld normal vector is thp* opposite of the gravity
direction.
(6 Marks)
--t
(c) Deflge and sketch the do@definition of a yglll*iginl,
ct{ie Lru*r p@qjt,rs/",fuol (T Marks)
lQs 20 Marksl
4t6
h4id term exan.i h4h4E 3i12
[8 MarksJ
tQ 2 20 MarksJ
(a) How ryy!&s are required to move the table the specified distance
[7 Marlis]
[7 ManksJ
escribe including a sketgh the and devices of
rybanism A open-loop
len-loop.NC
QarE*.
[6 Marks]
tQ 3 20 Marksl
a' How many pulses and atwhat rate woutd the controller send
to the X and I'servo
motors?
[7 marksJ
c' If a 200O-pulse/rev encoder is used, determine pitch of lead screw for each axis to
control with specified resolution.
[5 marks]
[Q4 20 l\{arlisl
t6 marksl
(b) state several reason the need for Automation.
[7 marlal
(c) What are the scopes suitable to automate the manufacturing processes
[7 marks]
P: o -cro lX l"o oo