-What are the basic elements of a robotic system Discuss the function of each element in the manufacturing environment.

(b) Discuss the advantages and disadvantages of using robots in industry.

2.(a) What is an LVDT and what purpose does it serve?

(b) Describe the criteria for the selection of sensors in robot.

3.(a) When are hydraulic actuators preferred in robots What are the differences between stepper motor and DC servo motor? Describe the non-industrial application of robots.

4.(a) Explain how manipulator's work space design is done.

(b) What is the need of co-ordinate frames and transformations?

5. Explain the algebraic solution of a three link planar manipulator for inverse kinematic problem.

6.(a) What do you understand by degrees of freedom? Explain with examples.

(b) Write the applications for point to point and continuous path planning.

7. Assume that [Q1OF and [QOA are given by,

cos 30° -sin 30° 0
[QA]F sin 30° cos 30° 0
0 0 1

and

cos 45° -sin 45° 0
[QB]A sin 45° cos 45° 0
0 0 1

Find [QB]F.

8.(a) How can one reduce the processing time in a vision system? Explain.

(b) Explain the features of robot oriented manufacturing.

9.(a) What are lead through programming and walk through programming of a robot.

(b) With the help of a block diagram, explain the functions of a robotic vision system and the devices used in the same system.

10. Write short notes on the following: Classification of Robot

(ii) Serial Chain Robot

(iii) PTP Robot

(iv) Robot Economics