B.E/B.TECH.

DEGREE EXAMINATION ,APRIL/MAY 2005 Sixth semester, Mechanical engineering Industrial Robotics Time:3 Hrs 100 marks PART A (10 X 2 =20) 1. Define a robot. 2. Stae the advantage and limtations of hydraulic drive for robot. 3. What are the types of hydraulic actuators used in robotics? 4. What is meant by PID control? 5. What is thresholding ? Why is it necessary? 6. Distinguish between grey and binary pictures. 7. Name any four languages used for robot programming. 8. Illustrate the use of the following more commands: AMOVE,GUIDE 9. What are the steps necessary for robotic arc wielding? 10. Briefly explain how CIM is related to robotics PART B (5 X 16 =80) 11. (i) Compare common robot configurations.

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(ii) Describe the five types of joints used in industrial robot construction. 12 (a) Name four different types of end effectors.Compare and contrast the end e ffectors from the view point of their functions OR (b) For the point 3i + 7j +5k perform the following operations: (i) Rotate 30 degrees about X axis (ii) Translate 8 units along the Y axis (iii) Rotate 30 degrees about X and translate 6 along Y (iv) Translate 6 along Y then rotate 30 degrees about X 13. (a) Discuss the basic operational charcteristics of the following proxinsity sensors: (i) Inductive sensor (ii) Hall effect sensor (iii)Capacitive sensors (iv) Ultrasonic sensors

OR (b) (i) Distinguish between CID and CCD camaras (ii) How does a vidicon camera work? (iii) Distinguish between line scan and area scan vision sensors. 14 9a) (i) Compare powered and maunual lead through programming methods. OR (b) (i) Discuss various search techniques in AI (ii) Describe the two possible schemes for problem representation. 15 (a) (i) Why are SCARA robots preferred for assambly operations? Compare and c ontrast revolute robots and SCARA robots from the view point of assembly operati ons (ii) Describe briefly the operations involved in robotic spot welding .What are the advantages of robotic welding over manual welding? OR (b) Describe the use of robots in the following: (i) Material handling. (ii) Loading and unloading.