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BACHELOR OF TECHNOLOGY INMECHANICAL ENGINEERING

(COMPUTER INTEGRATEDMANUFACTURING)Term-End Examination

]une, 2009

BME - 029: ROBOTICS

Time : 3 hours Maximum Marks : 70

Nate : Attempt any seoen questions. Use of calculator ispermitted. All questions carry equal marks.

What are the basic elements of a roboticsystem ? Discuss the function of eachelement in manufacturing environment.State other types of special purpose robots.

2x5=L0

technical features of2x5=10

(b) Discuss factory automation in the light ofindustrial robotics.

(u)L .

(b)

(a)2. Explain the followingrobot:(i) Resolution(ii) Accuracy(iit) Repeatability(iv) Work volume

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3. (u) "Degrees of freedom in a robot are intendedto emulate the versatility of movementpossessed by the human body". Discuss thestatement with neat sketches of a suitablemotion configuration. 2x5=10

(b) Describe the non-industrial applications ofrobots.

(u) "Final accuracy of a robotic system dependson its mechanical inaccuracies, thecomputer control algorithms and the systemresolution". Discuss. 2x5=L0

(b) IA/hat are the components of an actuator ?Give the requirements of an actuator forrobotic applications.

(u) Explain in brief the meaning and conceptof "Static and Dynamic analysis of amanipulato{' . Differentiate clearly betweenstatic and dynamic part of analysis. 2x5=10

(b) Explain how the robotics finds applicationsin computer aided manufacturing ?

(u) \tVhat are the applications for point-to-pointand continuous path planning ? 2x5=L0

(b) Rotate the vector V: S i + +j + Ot: by anangle of 90" about the x-axis.

4 .

J .

6.

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7. (a) Describe the salient features of amicroprocessor based robot controller ? Lista few popular brands of robotic contrott"T;r=r'

(b) Assume that [Qo]p and [Qsle are given by :

tQA lF

Find [Qn]r.

(a) Explain contact and noncontact tyPesensors. 2x5=L0

(b) 14/hat are the advantages and disadvantagesof on-line programming ?

(a) With the help of examples, explain the useof robots in the following : 2x5=\0

(i) Welding and (ii) Spray painting(b) Explain the features of Robot Oriented

Programming.

[cos 30" -sin 30' 0l=

L;'"'" cos 3oo orl'""u

[cos 45o -sin 45o 0ltQnle =L;*nu' cos45o

il

8 .

9.

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10. Write short notes on any five of the following :2x5=10

(a) Transducer

(b) AGVS

(") Robot Safety

(d) Cartesian space scheme

(") Programmingby Simulation

(0 Task planner

(g) DH parameters

(h) Inverse Kinematics

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