h&dE 3tr2

/{-\
s .^r
nrarrcl P+x
[a
ta-/ ]o

5m;*m:i".X,:,f,5g: T: *ericar coordino" *# which il ; *"

n
va
lr 6 ii o
+ &+

t Sr
xi't# 6.'.
0c

(a) Assign coordinafe frame to

the anns.

[6 MarksJ
3

(b) create and fiIt in the D-H pdrameters

table.

[7 tWarks]
(c) write an equation in term
ofA nnatrix for last coordinate frame.
\l
V 'l -- 'l FMarksl
":+-
I
A t, - .^l I I
/ 1c.- - 1 \ t - / 'l-. ":
,,-,. I .. 1

,.-l .. :- i /
-4(/t
lloqr"asi ai , VLr{i r..1 , Df qq .,o. o.[
J
0 PIart$J
plain the purpgses and techurig'e
of edge detecfion on an image.
Pqpwit+ f r\otoyr p' t-
L"opl ae-e
n
t t. , tT lvrarkbJ
b. For: l0x lo binary
l0 x I0 hine.t"'*.o^o :,- r,.-''^1-et1-rilL-l - ceqrcl'
^r^ -- in
i'-iase shoum Fig- ,1"!^i;,{t;?:-"rtff?fo*
/.-.\-.. .'.
,
i\ Mome,n{ M0}qbour.fhg origia
.i.-a--
--*'-----.r'
j tSeArrcl
ii. Lscafie+fhe center of.area:
{{r i crrl-f
,..ri..i.>
'[s iiaarksl

tl,-l-,-+qt
.
 i
on appendix)'
forlowing: (Refer additional information
For this arm do the

to the arrns' (6 Marks)

(a) Assign coordinate frame

fiil in the D-H parameters

table' (5 Marks)
(b) create and

determine the position-o1

for all the coordinate frames and in the
(c) Formurate the equation
toJ" ;ilJ4 4 is parallel to xu as illustrated
parallel
pqlg!,p when liryle 3 is :
:1, {{:y d3 4 an{M - 4) (9 Marks
A .fi
j(*o{grrd jgo 4 v,r -.f-
-'#***-ta'
l? d tjAo PartB t/^

lSooo -hs I^p'' Yg,&

Marksl *k fl ,v+ L,,sp|
lQ 3 2o
TT p'
,--'--- ",--
The worktable of a positioning system is driven by a leadscrew whose pitch +{2.0 -*)
The leadscrew is connected to the output shaft of a stepping motor through a:gearlrfx
whose ratio is|$*:}{O turns of the motor to one turn of the leadscrew). The stepping
;;; h;;rffi)H?rst r- rr,e table must move a distan.. off6o ilhlgtom its piesent
:
position at a linear velocity 800 mm/min

(a) determine the nglqbgl of pg.lses required to move the 1apl9 by the.specified distance.
t'5 d:3s,u,35g,7,5 h?-r.gA r(il{Ho") (TMarks)
I
rq, qd o(
(b)Calculatett'.',andpgFerateIoachievethedesiredtable
=.g
velocitv'gr V{_"r,.s n9
-. r J::{-_,|gg} , J?_"f_f2 (TMarks)
6'p* 6 * { rz}
(c) If input frequency for the system is 10 KHz and accumulator widffiJJ0] determine
the register value to drive the axis at specified speed.
(6 Marks)
f+ Go: vt hs tg

lQ4 20 Marksl

(a) The welding position is an essential issue in both manual and robotic welding.
Explain the reason why the weld normal vector is thp* opposite of the gravity
direction.
(6 Marks)

(b) propose a model

*"^ of *".]]l^^' that can :-::*:i"*-
"* attachment ---normal
orient 9g 'J1.tA - vector alwavs oonosite
rl ,* u fJt;'ri ^ '
;-;;..r,lrc.,.
to gravitr.
(7 Marks)

--t
(c) Deflge and sketch the do@definition of a yglll*iginl,
ct{ie Lru*r p@qjt,rs/",fuol (T Marks)

lQs 20 Marksl

(a ) Explain the ways of robot programming and its advantages.

(7 Marks)

4t6
 h4id term exan.i h4h4E 3i12

State logicai expression of C1 and C2 and.d.rau, aladderdiagram

for the control
of this system.

[8 MarksJ

tQ 2 20 MarksJ

The worktable of a positionitg system is driven by u

leadscrew whosel@rO.o
mm' The leadscrew is connected to the output shaft of a
stepping motor through a
gearbox whose ratio'is 4:1 (4 turns of the motor
to one turn of the leadscrew).The
stepping motor has 48 step angles. The table must move
a distance of 500 mm from its
present position at a linear velocity = 600 mm/min.

(a) How ryy!&s are required to move the table the specified distance

[7 Marlis]

(b) Catculatetn.rc@to desired table

velocifv.

[7 ManksJ
escribe including a sketgh the and devices of
rybanism A open-loop
len-loop.NC
QarE*.
[6 Marks]

tQ 3 20 Marksl

An NC machine has a resolution (BLU) of 0.001 mm. To move

the cutter from
coordinates (20,10) to (40,60) at 150 mm/min.

a' How many pulses and atwhat rate woutd the controller send
to the X and I'servo
motors?

[7 marksJ

Question 3 continued on page 4

b'A 8 bit DDA-based linear interpolator used for the NC machine.
What pvalues
should be loaded in the feed-rate control, and in the Xand y
of DDAs?
[8 marks]
 Mid teirn exaul MME 3l l2

c' If a 200O-pulse/rev encoder is used, determine pitch of lead screw for each axis to
control with specified resolution.
[5 marks]

[Q4 20 l\{arlisl

(a) The concept of automation can be applied to various level of factory

operations.
State level of automation and it corporate information systern.

t6 marksl
(b) state several reason the need for Automation.

[7 marlal
(c) What are the scopes suitable to automate the manufacturing processes

[7 marks]

P: o -cro lX l"o oo