BACHELOR OF TECHNOLOGY IN

MECHANICAL ENGINEERING
(COMPUTER INTEGRATED
MANUFACTURING)

oo
O
D-O
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Term-EndExamination
]une, 2009
BME - 029: ROBOTICS
Maximum Marks : 70

Time : 3 hours

Nate : Attempt any seoen questions. Use of calculatoris

permitted. All questionscarry equalmarks.
L.

(u) What are the basic elements of a robotic

system ? Discuss the function of each
element in manufacturing environment.

2.

(b)

Stateother types of specialpurpose robots.

2x5=L0

(a)

Explain the following technical features of

2x5=10
robot:
(i)

Resolution

(ii)

Accuracy

(iit)

Repeatability

(iv)

(b)

BME-029

Work volume
Discuss factory automation in the light of
industrial robotics.
P.T.O.

3.

4.

(u)

"Degreesof freedom in a robot are intended

to emulate the versatility of movement
possessedby the human body". Discussthe
statement with neat sketches of a suitable
motion configuration.
2x5=10

(b)

Describe the non-industrial applications of

robots.

(u)

"Final accuracyof a robotic systemdepends

on its mechanical inaccuracies, the
computer control algorithms and the system
resolution". Discuss.
2x5=L0

J.

(b)

IA/hat are the components of an actuator ?

Give the requirements of an actuator for
robotic applications.

(u)

Explain in brief the meaning and concept

of "Static and Dynamic analysis of a
manipulato{' . Differentiate clearly between
static and dynamic part of analysis.

6.

2x5=10

(b)

Explain how the robotics finds applications

in computer aided manufacturing ?

(u)

\tVhatare the applications for point-to-point

and continuous path planning ?
2x5=L0

(b)

Rotate the vector V: Si + +j + Ot: by an

angle of 90" about the x-axis.

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7.

(a)

Describe the salient features of a

microprocessorbasedrobot controller ? List
a few popular brands of robotic contrott"T;r=r'

(b)

Assume that [Qo]p and [Qsle are given by :

30" -sin 30' 0l

[cos

tQAlF =

3ooorl'""u
cos

L;'"'"
[cos

45o-sin 45o 0l

=L;*nu'cos45o
tQnle
il
Find [Qn]r.

8.

9.

(a)

Explain contact and noncontact tyPe

2x5=L0
sensors.

(b)

14/hatare the advantagesand disadvantages

of on-line programming ?

(a)

With the help of examples,explain the use

2x5=\0
of robots in the following :
(i)

(b)

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Welding and (ii) Spray painting

Explain the features of Robot Oriented

Programming.
P.T.O.

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
-oOo-

BME-029