# Pune University Industrial Robotics Question Papers

B.E. (Production) INDUSTRIAL ROBOTICS (2008 Pattern) (Elective – I) (Sem. – I)

Time: 3 Hours]                                                                           [Max. Marks :100

Instructions to the candidates:

1)            Answer any three questions from each section.

2)            Answers to the two sections should be written in separate books.

3)            Neat diagrams must be drawn wherever necessary.

4)            Assume suitable data, if necessary.

SECTION – I Unit – I

Q1) a) Explain the following terms associated with robot :                                           [8]

i)          Accuracy

ii)        Robot Work Envelope

iii)     Repeatability

iv)      Resolution

b) Explain six degrees of freedom associated with the robot manipulator.

[8]

OR

Q2) a) Define Robot & classify the robot.                                                     [8]

b) With neat sketch explain robot anatomy.                                                           [8]

Unit – II

Q3) a) List the steps involved in DH convention.                                         [8]

b)            Explain the forward kinematics associated with planar 3R manipulator.

[8]

OR

Q4) a) For the pick and place type of robot, the gripper is initially at location (60, 50, 80) and the following movements are in sequence.                                       [8]

i)          Rotation about x-axis by 90°.

ii)        Translation along z by 30 units. Find the position of gripper with respect to the original system by using transformation matrix method.

b)            Explain the Inverse kinematics associated with planar 3R manipulator.

[8]

Unit – III

Classify gripper & describe with sketch magnetic gripper.                        [9]

Discuss the design aspects of mechanical grippers.                                     [9]

OR

A 10 kg rectangular block is gripped in the middle and lifted vertically at a velocity 1m/s. If it accelerates at 27.5 m/s2 and Coefficient of friction between gripping pads and block is 0.48. Calculate the minimum force that would prevent slippage.                        [9]

Describe i) Vacuum gripper ii)Ultrasonic gripper                                       [9]

SECTION – II Unit – IV

Describe machine vision system.                                                                    [8]

With neat sketch explain Proximity and Range Sensors used in robot.

[8]

OR

Describe Force and Torque sensors used in robot.                                       [8]

The given data represents 8 x 8 arrays of pixels. Each element in the array indicates the grey level value of the pixels.                                                                                             [8]

i)             Construct histogram for the array and obtain appropriate threshold value.

ii)            Convert the picture into a black and white image. The data is as :

 10 11 10 11 12 12 12 12 13 15 17 17 17 17 15 13 14 17 19 19 19 19 18 14 13 17 19 20 20 19 18 13 12 17 19 20 21 19 18 12 12 17 19 19 19 19 18 12 11 15 18 18 18 18 15 11 12 11 10 11 12 12 12 12

Unit – V

Explain various programming methods used in robots.                              [8]

Comment on Artificial Intelligence in robot.                                                [8]

OR

Explain ‘WAIT’, ‘DELAY’, ‘SIGNAL’, ‘DEPART’ commands with suitable example. [8]

Explain the Pneumatic system used for robot system with advantages & limitations.       [8]

Unit – VI

What is handshaking? Explain hardware handshaking of robot. [9] Write a note on :       [9]

i)              Walking Robot.

ii)           Under water Robot.

OR

Describe the concept of safety in robotics.                                                    [9]

Explain the working of RS 232C interface used in Robotics system. [9]

Pune University Industrial Robotics Question Papers

❖                          ❖ ❖ ❖