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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
BME-029 P.T.O.
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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