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PG Robotics 2023

This document outlines the examination structure for the M.E. Production Engineering 1st Year 1st Semester in Robotics, detailing 13 questions that cover various topics such as robot configurations, components, end effectors, degrees of freedom, and sensor types. Each question requires detailed explanations, sketches, or calculations related to robotics principles and applications. The exam is designed to assess students' understanding of both theoretical concepts and practical applications in robotics.

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Tribangsu Mech
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7 views2 pages

PG Robotics 2023

This document outlines the examination structure for the M.E. Production Engineering 1st Year 1st Semester in Robotics, detailing 13 questions that cover various topics such as robot configurations, components, end effectors, degrees of freedom, and sensor types. Each question requires detailed explanations, sketches, or calculations related to robotics principles and applications. The exam is designed to assess students' understanding of both theoretical concepts and practical applications in robotics.

Uploaded by

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

: Ex/PG/ProdE/T/112A/2023
M.E. PRODUCTION ENGINEERING 1ST YEAR 1ST SEMESTER EXAMINATION – 2023

ROBOTICS (PT)
Time: 3 hours Full Marks: 100

Answer any 10 questions

1. Show the various robot configurations using neat sketches, stating their co-ordinate
systems. 10

2. Show the basic components of a robot using a neat sketch of an industrial robot, indicating
the locations of actuators and internal sensors for the various joints and the electrical
interface between them & the robot controller. 10

3. What do you mean by the working envelope of a robot? Draw the working envelopes &
also the configurations for cartesian type & cylindrical type robot configurations. 2+4+4

4. Classify end effectors. Show the mechanisms of two fingered parallel jaw type robot
grippers with revolute joint & prismatic joint. State the relative advantages and
disadvantages of these two types of robot grippers. 2+8

5. How many degrees of freedom (minimum) are required to position the end-effector at any
point within the working envelope of a robot? How many additional degrees of freedom
are required at the robot wrist & for what purpose? Show how this can be achieved, using
a neat sketch of a robot wrist. 1+3+6

6. Explain the working principle of the vacuum gripper. State the applications of vacuum
grippers in industry. 9+1

7. A cube of weight 10 kg is to be gripped by a SCARA type robot, using friction between


the object and the two parallel opposing fingers. The co-efficient of friction, μ = 0.3. The
gripper is attached to a SCARA type robot. Calculate the minimum gripping force, to be
exerted by each finger when
i) the cube is held up stationary
ii) the cube is being picked up vertically upwards with an acceleration, g/10
(g = acceleration due to gravity) 10

Ref. No. : Ex/PG/ProdE/T/112A/2023


8. a) Explain the world coordinate system and joint coordinate system for defining a location
variable in a robot language. 5

b) Distinguish between the following :


i) CLOSEI and CLOSE instructions in VAL-II
ii) range and proximity robot sensors 5

9. Write a robot program in VAL-II for a palletizing operation, in which a robot has to pick up
35 objects from a fixed location, and to place them in a pallet in the form of an array of 5
rows and 7 columns. The rows and columns are parallel to x-axis and y-axis respectively,
and are 200 mm & 150 mm apart respectively. 10

10. What do you mean by direct and inverse kinematics in robotics? What is a 4x4
homogeneous transformation matrix, and what is its advantage over 3x3 matrix? How
would you obtain a composite homogeneous transformation matrix from the basic
homogeneous transformation matrices for a sequence of rotations and translations of a
coordinate system with respect to a fixed coordinate system? 3+3+4

11. Discuss D-H method for establishing a coordinate frame to each link of a robot arm, and to
obtain a transformation matrix relating two successive coordinate frames from the basic
homogeneous transformation matrices (indicating the joint variables and the link
parameters). Also, discuss its use in solving direct kinematic problems in robotic. 6+4

12. What are the reasons for employing sensors in robots? Distinguish between internal and
external sensors with suitable examples 5+5

13. Explain the working principles of (i) inductive and (ii) optical proximity sensors. 6+4

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