Patna University 2010 M.Tech Production Engineering PTU, , Production EnggRobotics and Industrial Automation 1 - Question Paper
Roll No..............................................,
No. of Questions : 08) |Total No. of Pages : 01
(Please fill this Paper ID in OMR Sheet) *5
M.Tech (Sem. - 1st) ROBOTICS AND INDUSTRIAL AUTOMATION (PE - 520)
Time : 03 Hours Maximum Marks : 100
Instruction to Candidates:
1) Attempt any Five questions.
2) All questions carry equal marks.
Ql) (a) What are the major components of a robotic manipulator? Discuss.
(b) Differentiate between servo and non-servo manipulators.
Q2) (a) What are the basic characteristics of a robot-level language? Discuss with the help of an example.
(b) Differentiate between VAL and RAIL robot programming language.
QS) (a) What is Denavit-Hartenberg notation for assigning frames to links and identifying joint link parameters? Discuss.
(b) Discuss the direct and inverse kinematic models.
Q4) Compute the linear as well as angular velocity of tool tip with respect to the base 3 frame for a two link planar manipulator. Assume the two joints as rotary joints.
Q5) Derive expressions for joint torque for single link planar robotic manipulator having rotary joint using Newton-Euler dynamics formulations.
Q6) Write short note on the following :
(a) Force Control of robotic manipulator.
(b) Optical encoder.
Q7) Discuss the following:
(a) Electrical Actuator.
(b) Automation systems. .
(c) Pressure Control valves.
Q8) (a) What do you understand by Automated Guided Vehicle systems? Discuss, (b) Discuss the quantitative analysis of single direction and continuous loop conveyor systems.
OOO
|
Attachment: |
| Earning: Approval pending. |
