Biju Patnaik University of Technology 2008-8th Sem B.Tech Robotics and Robot Applications - Question Paper
ROBOTICS AND ROBOT APPLICATIONS
Full Marks-70 Time: 3 Hours
Answer Question No. 1 which is compulsory and any five from the rest.
The figures in the right-hand margin indicate marks.
1. Write short answers to the following questions:
2x10
(a) What is a joint interpolated motion of a robot ?
(b) What is teach pendent programming of a robot ?
(c) What are the different classification systems of robots ?
(d) What is a forward transformation of 3DOF robot arm ?
(e) Name the three types of rotary actuators.
(f) Give few points on advantages of adhesive grippers.
(g) What is an accuracy of robotics sensors ?
*
i (h) Why a gear pump is a positive displace-stflr,d " ment pump ?
(i) Name the different applications of a robot.
(j) Give two points on why SCARA robots preferred for assembly operations.
2. (a) Describe with neat sketch the work envelope of a robot in different systems. 7
(b) Write briefly on types of controllers used in robotics. 3
PEME 6409 2 Contd.
3. (a) Distinguish between joint interpolated
motion and controlled path motion. 4
(b) How do you specify a robot and what are the benefits of introducing flexibility in manufacturing ? 6
4. (a) Write a brief note on homogeneous
co-ordinates and transformation matrix.
3
(b) What is the rotation matrix for a rotation of 30 about the OZ axis, followed by a rotation of 60 about the OX axis, followed by a rotation of 90 about the OY axis ?
7
5. (a) What are the advantages and disadvan
tages of stepper motors over dc servo motors ? 5
(b) Write briefly with neat sketch about the drive circuit of a stepper motor. 5
6. (a) Define a robot vision and what are the
applications of a robot vision system ?
3
(b) What are the types of actuators used a for robot end-effectors ? State the advantages of each actuator. 7
7. (a) Write short notes on LVDT and poten
tiometer. 5
(b) What are the different types of sensors and functions of those sensors ? 5
8. (a) Write a short note on VAL system. 3
(b) Describe about the welding instructions in robot languages with suitable example and give a program on weld curve with neat sketch. 7
PEME 6409 4 -C
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