Mahatma Gandhi University (MGU) 2006 M.Sc Electronic Science Robotics - Question Paper

M.Sc. DEGREE EXAMINATION, AUGUST 2006

Second Semester

Branch – Electronics

ME 202 – ROBOTICS

Time : 3 Hours Maximum : 75 Marks

Part A

ans any 6 ques..

1. What is meant by precision? Illustrate with an example.
2. Define and discuss work envelope.
3. What are the joint variables?
4. Explain the working of an absolute optical encoder.
5. Explain the working of a Force sensor.
6. With a diagram discuss a device for sensing the magnitude and direction of slip.
7. Explain Teach-In approach of Robot programming.
8. What is homogeneous coordinate representation? Illustrate.
9. Explain the principle of spot welding using Robots.
(6 X two = 12 marks)

Part B

ans any 3 ques..

10. How do you classify Robots? discuss in detail.
11. Explain the construction and working of a stepper motor.
12. Discuss the important characteristics of a Robot level language.
13. Compare different programming methods of Robots.
14. Explain the arm equations of a Robot.
(3 X five = 15 marks)

Part C

ans all ques..

15. (a) discuss different kinds of joints.
Or
(b) With diagrams discuss different kinds of Robots.
16. (a) discuss the working of subsequent sensors:-
(i) Incremental optical encoder.
(ii) Touch sensor.
(iii) Proximity sensor.
Or
(b) define the construction, working and characteristics of DC motors employed as actuators.
17. (a) (i) elaborate the important capabilities of a standard language used for programming of Robots?
(ii) discuss link coordinate system and its parameters.
Or
(b) discuss Denavit-Hartenberg representation of Robot coordinates.
18. (a) discuss the subsequent industrial applications of Robots:-
(i) ARC welding
(ii) Die-casting.
Or
(b) Write short notes on :
(i) Tool configuration.
(ii) Coordinate frames.
(iii) Selection of Robots.
(4 X 12 = 48 marks)

Earning:   Approval pending.