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Previous Year Exam Questions for Robotics and Robot Applications - RRA of 2018 - CEC by Bput Toppers

  • Robotics and Robot Applications - RRA
  • 2018
  • PYQ
  • Biju Patnaik University of Technology Rourkela Odisha - BPUT
  • Electronics and Instrumentation Engineering
  • B.Tech
  • 6912 Views
  • 140 Offline Downloads
  • Uploaded 1 year ago
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Registration No : Total Number of Pages : 02 B.Tech. PEME5305 6th Semester Back Examination 2017-18 ROBOTICS AND ROBOT APPLICATIONS BRANCH : AEIE, CSE, ECE, EEE, EIE, ELECTRICAL, ETC, IEE, IT, ITE, MECH, PE, TEXTILE Time : 3 Hours Max Marks : 70 Q.CODE : C220 Answer Question No.1 which is compulsory and any five from the rest. Draw neat sketches wherever necessary. Assume any missing data suitably. The figures in the right hand margin indicate marks. a) b) c) d) e) f) g) h) i) j) Answer the following questions : What are the economic benefits available from the use of robots? State and explain various drives methods used for robot gripper systems. Define the terms: Work envelop, Payload, Pitch-Roll-Yaw. (2 x 10) What are the trends in future application areas of robotics? State any two algorithms used for obstacle avoidance. In a robot slide mechanism of total length 650 mm. The robot has control memory 10 bit capacity. The mechanical accuracy associated with the moving arm is a random variable with standard deviation 0.1mm. Determine the accuracy and repeatability. Define robotic arc welding sensors and differentiate between active and passive tracking sensors. State the laws of robotics. What is the difference between a transducer and a sensor? Jacobian matrix is usually of size × where ‘m’ stands for __________________ and ‘n’ stands for__________________. 20 Q2. XC YC 40 ZD D 25 XD YD ZB XB 50 Write the homogeneous transformation matrices shown in the figure 2.1 for the co-ordinate frames attached to the corners A, B, C and D with respect to the base co-ordinate frame ‘O’. Also write the transformation matrix for ‘A’ with respect to ‘C’ frame. (10) C ZC ZA A XA YA ZO YO XO 20 Q1. O Figure 2.1 B YB

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Q3. a) b) Differentiate between direct and inverse kinematics. Derive the forward kinematic equations using Denavit-Hartenberg notation for a three link planner manipulator. (2) (8) Q4. a) State the differences between path and trajectory and Cartesian trajectory and Joint space trajectory planning. Differences between Lagrange-Euler and Newton Euler equation of motion. (5) What are the advantages and disadvantages of stepper motor over servo motor? Compare between hydraulic and pneumatic systems. Explain with the help of block diagram of a pneumatic system to generate compressed air. (5) What are the steps necessary for robotic arc welding? What are the advantages of robot welding over manual welding? What are the possible robot applications in manufacturing industries? Classify such robots from the viewpoints of drives and control. (5) State and explain with sketch different types of sensors used in conjunction with robots and robotic applications. Discuss the working principle of thermocouple with suitable diagram covering material used, construction, advantages and temperature range. (5) The coordinates of point P with respect to a moving coordinate frame are given as P = [0.5 0.8 1.3] . What are the coordinates of P with respect to fixed coordinate frame, if the moving frame rotated by 450 about Z-axis of the fixed frame. Human hand has 6 DOF. Justify this statement. Which type of manipulator is best suited for machine loading and unloading application? Explain how robot can be used for assembly purpose. (3) b) Q5. a) b) Q6. a) b) Q7. a) b) Q8. a) b) c) d) (5) (5) (5) (5) (3) (2) (2)

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