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P15me81 - P2

The document discusses various topics related to industrial robotics including physical characteristics of robots, robot configurations, accuracy, repeatability, sensors, actuators, kinematics, programming, and applications of robots in material handling, welding and spray coating. It contains 10 questions related to these topics with sub-questions to be answered.

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darknight00832
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19 views2 pages

P15me81 - P2

The document discusses various topics related to industrial robotics including physical characteristics of robots, robot configurations, accuracy, repeatability, sensors, actuators, kinematics, programming, and applications of robots in material handling, welding and spray coating. It contains 10 questions related to these topics with sub-questions to be answered.

Uploaded by

darknight00832
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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P15ME81 Page No...

1
U.S.N

P.E.S. College of Engineering, Mandya - 571 401


(An Autonomous Institution affiliated to VTU, Belagavi)
Eighth Semester, B. E. - Mechanical Engineering
Semester End Examination; July - 2021
Industrial Robotics
Time: 3 hrs Max. Marks: 100
Note: i) Answer any FIVE full questions. ii) Missing data, if any, may be suitably assumed.
1 a. Discuss the physical characteristics of the robot that determines work volume and illustrate the
9
work volume of any two robot configuration with a neat sketch.
b. Discuss and illustrate the concept of speed of response and stability in robotics. 8
c. Discuss the factors that affect the load carrying capacity of a robot. 3
2 a. Discuss spatial resolution and accuracy with a neat sketch. 8
b. Illustrate and explain spherical configuration robot with a sketch. Suggest suitable joints and its
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motion to build a spherical configuration robot.
c. Define repeatability and illustrate how accuracy affects repeatability. 4
3 a. Illustrate and explain the working principle of potentiometer and list the applications
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of potentiometer.
b. Illustrate and explain the working principle of a stepper motor. 10
4 a. Explain the working principle of a dc servo motor and discuss the affects of a back emf in a dc
10
servo motor.
b. Discuss the feedback mechanism associated with a velocity sensor and an incremental encoder. 10
5 a. Explain Direct kinematics and Inverse kinematics with a neat sketch. 10
b. Develop a composite rotation matrix for rotation of angle α about OX axis followed by angle θ
10
about OZ axis followed by angle φ about OY axis.
6 a. Derive Eulerian rotation matrix for system I and system II with a representation. 10
b. Discuss Denavit-Hartonberg representation and discuss the parameters that describe any
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revolute or prismatic joint.
7 a. Discuss the types of programming methods and also explain the ways to accomplish lead
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through programming.
b. Write the description for the below commands:
i) MOVE A1
ii) APPRO A1, 50
iii) MOVE ARM2 TO A1
iv) DEFINE FRAME 1 = FRAME (A1, A2, A3)
v) MOVES ROUTE : FRAME 1 10
vi) CLOSE 3.0LB
vii) SIGNAL 105, 45
viii) SIGNAL VOLT 1
ix) WAIT VOLT 3
x) REACT 1 17, SAFETY
Contd… 2
P15ME81 Page No... 2
8 a. Explain the importance of below statements in framing a robot program for a certain
applications.
i) IF statement
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ii) IF….THEN….. ELSE… END statement
iii) DO LOOPS
iv) Subroutine statements
b. Discuss the basic elements and functions that should be incorporated in robot
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programming language.
9 a. Discuss the general considerations in robot material handling applications. 10
b. Discuss the features of the welding robot. 10
10 a. Discuss the requirements of the robot for spray coating applications and list the benefits. 10
b. Develop a robotic cell comprising of a 2 DOF robotic arm, incoming and outgoing conveyor.
Illustrate this with neat sketch and explain the process involved in a simple pick 10
and place operation.

****

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