F 03000EC368052101 Pages:
Reg No.: Name:
APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY
Sixth Semester B.Tech Degree Regular and Supplementary Examination July 2021
Course Code: EC368
Course Name: ROBOTICS
Max. Marks: 100 Duration: 3
PARTA
Answer any two full questions, each carries 15 marks

1 a) Define the term degrees of freedom and explain six degrees of freedom
associated with robot.

b) Describe the TLL robot configuration with neat sketch.

2 a) Illustrate the working of strain gauge-based force sensor using Wheatstone
bridge setup.

b) Compare hydraulic, electric, and pneumatic actuators.
3 9) With the help of torque speed characteristic explain the working of servomotor.
b) Explain different types of joints with the help of neat sketches.
PART B
Answer any two full questions, each carries 15 marks
4 a) Explain the functions of a machine vision system with the help of block diagram
b) Find the new location of point P(1, 2,3)" relative to the reference frame after a
rotation of 30° about the z-axis followed by a rotation of 60° about the y-axis.

5 a) A frame B is rotated 90° about the z-axis, then translated 3 and 5 units relative to
the n and o-axes respectively, then rotated another 90° about the n-axis, and
finally, 90° about the y-axis. Find the new location and orientation of the frame

01 0 1
8-0 ‏م‎ -1 1
00 0 1
b) Explain the steps to be followed for the implementation of Denavit- Hartenberg
representation.
6 a) Explain the three phases involved in analog to digital signal conversion.
b) Derive the matrix representing RPY orientation.

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