Pune University Exam Paper
B.E. (Mechanical Engg.)
ROBOTICS (2008 Pattern)
(Elective – III) (Sem – II)
Time: 3 Hours] [Max. Marks :100
Instructions to the candidates:
1) Answer any 3 questionsfrom each Section.
2) Answers to the two sections should be written in separate books.
3) Neat diagrams must be drawn wherever necessary.
4) Pigures to the right indicate full marks.
5) Use of logarithmic tables slide rule, Mollier charts, electronic pocket
calculator and steam tables is allowed.
6) Assume suitable data, if necessary.
SECTION – I
Ql) a) Explain the robot anatomy with figure. 
b) Compare the cylindrical co-ordinate and articulated configuration robot
on the basis of
i) Work Volume
ii) Accuracy and Repeatability
iii) Mechanical Flexibility
v) Applications 
Q2) a) Explain the degree of freedom associated with robot arm and wrist. 
b) A Cartesian robot has a slide range of 1.5 m and it is desired that it will
have a control resolution of 2.8 mm on this axis. Determine the bit storage capacity which control memory must possess to accommodate this level of precision. 
c) Explain the different joints used in robots. 
Q3) a) What are the different considerations in the design of the gripper? 
b) A rectangular block weighing 12 kg is gripped at the middle and lifted
vertically. If it accelerates at 25 m/s2 and the coefficient of friction between the gripping pad and the block is 0.42. Draw gripper force analysis and calculate gripping force. 
Q4) a) Explain important characteristics of robot sensors. 
b) State various types of sensors in robot. Explain capacitive and Ultrasonic
Q5) a) Classify robot drives. 
b) Write short notes on Gear motor and Piston Motor. 
Q6) a) Explain the Modeling and control of a single joint in robot. 
b) One of the joint of articulated robot has to traverse from initial angle of
20o to final angle of 84° in 4 seconds. Using a third degree polynomial calculate the joint angle at 1, 2 and 3 seconds. 
SECTION – II
Q7) a) Explain steps to implement Denavit Hertenberg convention for robot
b) A point ‘P’ is attached to a frame (XYZ) is subjected to the following
transformations, but all transformations relative to the current moving frame are as follows. 
i) A rotation of ‘a’ angle about the OX – axis.
ii) Then a translation of ‘a’ units along OX axis.
iii) Followed by a rotation of ‘0’ angle about the OZ-axis.
Write homogenous transformation matrix to find new coordinate point of a frame.
Q8) a) Sketch and explain the procedure to obtain robot joint Jacobian matrix. 
b) Derive an equation to calculate static force in two link arm manipulator. 
Q9) a) Explain three major functions of machine vision system. 
b) Enlist different ways to segment an image and explain any one in
b) Discuss the general features of robot programming language. 
QII) a) Explain various techniques used for representing knowledge in artificial
b) Explain possible schemes to represent the problem in artificial
Q12) Write short notes on :
a) Economical aspects to design Robot. 
b) Robot simulation Tools. 
c) Singularities in robot. 
|(Tu (Tu (Tu