Pune University Exam Paper
ROBOTICS (2008 Pattern)
(Sem.- II) (Elective – III)
Time :3 Hours] [Max. Marks :100
1) Answer three questions from Section -1 and three questions from Section -II.
2) Answers to the two sections should be written in separate books.
3) Pigures to the right indicate full marks.
4) Neat diagrams must be drawn wherever necessary.
5) Use of logarithmic tables slide rules, Mollier charts, electronic pocket calculator and steam tables is allowed.
6) Assume suitable data, if necessary.
|SECTION – I
Q5) a) State the comparison of robot drive system with its advantages and limitations. 
b) What are the feature and application of “hydraulic actuators”? 
c) Explain different steps in trajectory planning. 
Q6) a)Compare hydraulic and electrical actuators in robots. 
b)Write a note on industrial robot control system. 
c)State the features of “pneumatic actuators”. 
SECTION – II
Q7) a)Explain Denavit-Hartenberg parameters with suitable examples and sketch. 
b)A planner 2R manipulator has link lengths 11= I00mm and 12 = 70mm. State and explain whether
the manipulator can reach points P, Q, R separately. Where P is at (15,15), Q is at (15,70) and R is at
Q8) a) Explain Newton’s – Euler’s dynamic formulation? 
b) A moving frame is rotated about a fixed frame in the following manner,
|i)||Rotation of 90° about U.|
|ii)||Rotation of 1800° about Z.|
|iii)||Rotation of 90° about Y.|
|iv)||Rotation of -90° about X.|
|v)||Rotation of 90° about V.|
|vi)||Rotation of -90° about U.|
A point has co ordinates (15,-27,38) with respect to moving frame.
Map the point in the fixed frame. 
Q9) a)Explain different types of speed reduction and transmission systems used in robots. 
b)Explain use of robot in plastic molding. 
c)What do you mean by robot vision? Explain briefly. 
Q,10) a)Explain briefly “Vision hardware”. 
b)Write various technical features required of robot for spot welding and
spray coating applications. 
c)Discuss the term stiffness with reference to gears, belts and shafts. 
Q.11)a)Explain manual mode of programming in robot. 
b)State various robot languages. Discuss them in brief. 
c)Compare between Computer control and robot software control? 
Q.12) a)Explain generation of robot programming languages. 
b)Explain Wait, DELAY, SIGNAL command with suitable examples. 
c)How is sensing in robot programming classified? Explain briefly.