# Pune University Exam Paper

## Time: 3 Hours                                                                                                            Max.    Marks : 100

Instructions to the candidates:

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

2)      Answer any three questions from each section.

3)      Neat diagrams must be drawn wherever necessary.

4)      Figures to the right side indicate full marks.

5)      Use of Calculator is allowed.

6)      Assume Suitable data if necessary

SECTION I

Ql)   a) Explain the five basic robot configurations according to the work      [10]

envelope and applications. b) Define Repeatability, Precision and Accuracy of Robot? Why                           [6]

repeatability is important design characteristics?

OR

Q2)   a) How does the SCARA arm geometry differ from the vertical [4]

articulated arm?

b)        Why is the SCARA arm more ideal for assembly applications?     [4]

c)         Explain the term “Compliance” in terms of a robot? Explain types of [8]

Compliance.

Q3)       a)  Discuss various types of grippers used in robotics. What is      the [8]

meaning of the term “end effector”? b) Which sensor can be used along with the gripper to sense whether the                [8]

object is falling? Explain the working principle.

OR

Q4)       a)  Explain the Design considerations of gripper selection. [8]

b)  Compile a list of sensors that might be used in robotic systems. For                                                        [8]

each sensor, give an application.

Q5)       a)  Explain the advantages/disadvantages of using pneumatics vis a vis   [8]

hydraulics as power source for drives in Robotics. b)     A joint in a PTP robot, Which rotates from an initial angle of 5°to a  [10]

final angle of 65°in 5 sec with a constant velocity. Determine the position of the joint in 1,2,3,4 secs and plot the results.

OR

Q6)       a)  Enlist the different Components used in transmission systems of a      [8]

robot. Write advantages & disadvantages of each in perspective of accuracy of robot.

b)  Explain different types of controllers used in robots   [10]

 SECTION II

 03? If no, then what should be the minimum value of 01 so that the point will be reached by the manipulator? Explain the Newton- Euler Dynamic formulation. OR Explain the two approaches to inverse kinematic solutions. Find whether the following matrix is a rotation matrix or not. If not, then identify an element which may be modified to convert the matrix into rotation matrix.

 Q7) a) A planar 3R manipulator has link lengths l1=100 mm, l2=80 mm and [8] l3=60 mm. Determine its reachable workspace and state whether point (200,100) is reached with 01=40°. If yes, what are the values of 02 and

 0.5687 0.7141 0.4082 0.7462 0.6567 0.1094 0.3462 0.2424 0.7063
 b)

 [10]

 Q8)

 a) b)

 [8] [10]

 [8] [8] [8] [8] [8] [8] [8] [8]

Q9)   a)  Describe the functions of a machine vision system,

b) Explain WAIT, DELAY and SIGNAL commands.

OR

Q10)  a)  Write short notes on:

i) Manual moae of programming    ii) Offline programming

b) What are the different image pre-processing techniques?

Q11)       a)  Describe the three primary descriptors applied to simulation that

serves as the characteristics of the simulation. b) Explain the term Robot Safety.

OR

Q12)       a)  Give the need and applications of artificial intelligence.

Discuss the new trends and recent updates in Robotics.