P15ME81 Page No...
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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; May / June - 2019
Industrial Robotics
Time: 3 hrs Max. Marks: 100
Note: Answer FIVE full questions, selecting ONE full question from each unit.
UNIT - I
1 a. Discuss about industrial automation. 6
b. Show the classification of Industrial robot based on any four criteria. 6
c. With neat sketches, explain polar configuration and jointed arm configuration of a robot. 8
2 a. With a neat sketch, explain three degrees of freedom associated with the robot wrist. 6
b. Explain magnetic gripper of a robot. 6
c. In a robot slide mechanism of total length 0.7 m, the robot has control memory of 10 bit
capacity. The mechanical accuracy associated with the moving arm is a random variable
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with standard deviation 0.1 mm. Determine the control resolution, spatial resolution,
accuracy and repeatability.
UNIT - II
3 a. With neat sketches, explain the following :
i) Potentiometer 10
ii) Incremental encoder
b. Discuss advantages and limitations of electric and hydraulic drive system. 10
4 a. Explain proximity and range sensors. 12
b. Explain electric actuators of industrial robots. 8
UNIT - III
5 a. Two points aUVW = (4, 3, 2)T and bUVW = (6, 2, 4)T are to be translated a distance +5 units
along the OX axis and -3 units along the OZ axis . Using the appropriate homogeneous 8
transformation matrix, determine the new points aXYZ and bXUZ.
b. Illustrate three Euler angles representations. 12
6 a. Describe the steps involved in implementing DH-convention with help of neat sketch. 12
b. Establish link coordinate systems for a PUMA robot. 8
UNIT - IV
7 a. Explain the features and capabilities of motion level language and structured
10
programming languages.
b. Explain robot programming using teach pendent and also list its advantages and limitations. 10
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8 a. Write a VAL II robot task program for the palletizing operation in which the pallet has
4 rows that are 50 mm apart and 6 columns that are 40 mm apart. The plane of the pallet is
assumed to be parallel to the xy plane. The rows of the pallet are parallel to the x axis and 12
columns of the pallet are parallel to the y axis. The objects to be picked up are about 25 mm
tall.
b. Discuss the end effecter and sensor commands in robot programming. 8
UNIT - V
9 a. Explain the application of industrial robot in loading and unloading of machine tool . 10
b. Discuss features of the welding robot. 10
10 a. Explain general requirements of the robots for spary coating applications. 10
b. With schematics, illustate the single workstation configuration of assembly robot system. 10
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