PART A (10 2 = 20 marks)

1. Draw the work envelop for polar robot? 2. Write the homogenous transform matrix for a rotation of 900 about the Z-axis followed by a translation of (4, 8, 9)? 3. Distinguish between series wound and shunt wound motor? 4. What are the types of actuators used in robot end effectors? 5. How do sense the position accuracy of a robot? 6. What is thresholding? 7. What is the importance of work envelope relating to robot safety? 8. Distinguish between output and input interlock? 9. State the methods for defining position in space irrespective of robot configuration? 10. What are the goals of AI in research?
PART B - (5 16 = 80 marks) 11. (a). (i) Explain the basic anatomies of robot with a simple sketch. (10) (ii)Explain the features of precision in a static context. (6) Or (b) (i) explain the procedure to determine the required joint positions for the manipulator to reach a desired end pint. (8) (ii) For the point -3i+7j-5k perform the following operation. (8) (1) Rotate 450 about the Y axis (2) Rotate 900 about the Z-axis (3) Translate 8 units along the Y-axis (4) Rotate 300 about Y-axis then translate 6 along Y (5) Translate 6 along Y, then rotate 300 about X 12. (a) Sketch the pneumatic circuits to control different motions of cylindrical and Cartesian coordinates robot. (16) Or (b) Describe the robot gripper to take measurements of outer and inner dimensions of objects with the aid of pneumatic gauging. (16) 13. (a) (i) with an aid of sketch describe briefly a strain gauge type wrist force/torque sensor. (8) (ii) What is robot vision? What are the types of vision sensor used to take the image of an object? (8)

Or (b) (i) Describe a sensing device to generate the contour pictures of a workshop. (8) (ii)Describe the methods of template matching. (8) 14. (a) Explain the robot work cell arrangements with simple sketch. (16) Or (b) (i) State five safety hazards that can be identified within industrial robot installations. (6) (ii) What are the possible robot applications in manufacturing industries? Classify such robots from the view points of drives and controls. (10) 15. (a) The robot is to be programmed to pick up a part from point A and move it point B, followed by a move to a neutral position. Points A and B are to be defined by the programmer within robots work volume. Then the robot should pick up the part at point b and move it back t point a, followed by a move to pervious neutral position. The robot can be operated continually the run mode to repeat the motion pattern over and over. Give the design of the robot.(16) Or (b) Describe the different search techniques employed by AI program. (16)