# Pune University Exam Paper

## (Elective – III (c)) (Sem – II)

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)                    Figures to the right indicate full marks.

5)                    Use of electronic pocket calculator is allowed.

6)                    Assume suitable data, if necessary.

SECTION – I

Q1) a) Explain the five basic robot configurations according to the work envelope and applications.                         

b) Define Repeatability, Precision and Accuracy of Robot? Why repeatability is important design characteristics? 

OR

Q2) a) How does the SCARA arm geometry differ from the vertical articulated arm?                                   

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

c)                  Explain the term “Compliance” in terms of a robot? Explain types of Compliance.                                     

Q3) a) Discuss various types of grippers used in robotics. What is the meaning of the term “end effector”?            

b) Which sensor can be used along with the gripper to sense whether the object is falling? Explain the working principle.  

OR

P.T.O.

Q4) a) Explain the Design considerations of gripper selection. 

b) Compile a list of sensors that might be used in robotic systems. For each sensor, give an application.              

Q5) a) Explain the advantages/disadvantages of using pneumatics vis a vis hydraulics as power source for drives in Robotics. 

b) A joint in a PTP robot, Which rotates from an initial angle of 50 to a final angle of 650 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 robot.

Write advantages 8 disadvantages of each in perspective of accuracy of robot. 

b) Explain different types of controllers used in robots.                                          

SECTION – II

Q7) a) {UVW} is obtained from {XYZ} by rotation of 90° about Z axis followed by rotation of 90° about U axis. Then {UVW} locates a point P at U = 20, V = 30 and W = 40. Determine its coordinates with respect to {XYZ}.                                                                                              

b) With the help of suitable illustration, explain the significance of D-H Parameters.                                    

OR

Q8) a) 2 DOF planar RR manipulator has /1=120mm, /2=75mm. Determine joint angles so that free end is located at @100,70).    

b) Write short notes on :                            

i)          Singularity,

ii)     Kinematic Calibration.

Q9) a) What is the need of Sampling and quantization.      

b) Write short note on “Development of languages for recent robot systems”.                                          

OR

QI0) a)  Write a short note on “Image Acquisition”.        

b)  Explain WAIT, SIGNAL and DELAY commands in Robot Programming

Language.                                          

QII) a) Write a short note on “Need and application of Artificial Intelligence”.  b) Discuss in details the future scope for robotisation?                                    

OR

Q12) a)  Write a short note on “Tools and Techniques of Simulation”.     

b)  Discuss the Safety aspects for robot and associated mass.