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Research Interests•Bio-Inspired Robots •Reconfigurable Robot•Kinematics , Dynamics & Control •Compliant Mechanisms•Soft Actuators & Sensors
Aditya KSKV, Research SummaryTill -2015 May
Kinematic Analysis of A Novel 3- RSR Mechanism for Finger Tip Haptics
Aditya Kapilavai, M.Solazzi, Daniele leonardis, Basilio Lenzo and Antonio Frisoli , “KinematicAnalysis of A Novel 3- RSR Mechanism for Finger Tip Haptics” communicated Robotica Journal
Cutaneous stimuli are fundamental in recognizing shapes in curvature discrimination tasks and to improve the illusion of presence in virtual and remote environments
Novel 3- RSR Kinematic Architecture
Workspace of the end-effector, obtained considering a range of 45° angular displacement for eachactuator.
Kinematics of the presented haptic device
Constraint and actuation wrenches of the mechanism
MOTION PLANNING BY USING DIFFERENTIAL KINEMATICS
Suggested ReferencesL-W. Tsai, “A Three Degree of Parallel Manipulators With Only Translational Degree of Freedom” , Ph.D. thesis, University of Maryland, college park, MD, pp.64-89,1997.
G.R.Dunlop, T.P.Jones, “Position Analysis of A 3-DOF PlatformManipulator”, Mech. Mach. Theory, Vol.32, 1997, No.8,pp.903-920.
Sameer A. Joshi, “A Comparative Study of Two Classes of3-DOF Parallel Manipulators” , Ph.D. thesis, University ofMaryland, college park, MD,pp.40-96 , 2002.
Raffaele Di Gregorio ,"Inverse position analysis, workspace determination and position synthesis of parallel manipulatorswith 3-RSR topology", Robotica 2003 volume 21,pp.627-632
Motivation
Pneumatic actuator
Characterization
Control e
S=0
Miniaturized Pneumatic Artificial Muscle (MPAM)
Chakravarthy,S.,andAditya,K.,Ghosal,A.,“ExperimentalCharacterizationandControlofMiniaturizedPneumaticArtificialMuscle,ASME Journal of Medical Devices, Vol 8 (4),Paper No: Med -13-1273,2014
Device
Endoscope
Conceptual surgical device for NOTES surgery
Performance
PropertiesElectromagnetic
MotorShape Memory
AlloyPneumatic Artificial Muscle
Force to weight
ratio
Compliance
Response time
Control
Size
Excellent
Good
Bad
PAM •Inert•Low cost of manufacturing
Fabrication of MPAM
Diameter1.2 mm
Working
Initial Position when P=0Braid Angle = 38o
When P=120 PSIBraid Angle=89o
Setup for characterization
Maximum force characterization
Complete characterization
Hysteresis in the fabricated MPAMs
(a)Geometric representation of the actuator, (b) pantograph representation of the braid.
Kinematics Model of MPAM
(a)
(b)
To get clear idea for modeling and understanding please read the paper
Length versus cosine of braid angle plot for (a) 97mm, (b) 117mm, and (c) 143mm
Compressor Reservoir Proportional
Valve
Pneumatic
Muscle
Pressure
TransducerController
Current
DriverPressure
regulating
switch
Pressurized
Air
p
pV
u
i
Closed loop operation
Device
Summary
• Pneumatic muscle as soft actuator
• MPAM developed and characterized
• Robust control of MPAM
• Initial prototype of an endoscopic surgical device
Suggested References•Chou, C.-P., and Hannaford, B., 1996, “Measurement and Modelling ofMcKibben Pneumatic Artificial Muscles,” IEEE Trans. Rob. Autom., 12(1),pp. 90–102.
• Tonus, B., and Lopez, P., 2000, “Modelling and Control of McKibben ArtificialMuscle Robot Actuators,” IEEE Control Syst. Mag., 20(2), pp. 15–38.
• Tondu, B., 2012, “Modelling of the McKibben Artificial Muscle: A Review,”J. Intell. Mater. Syst. Struct., 23(3), pp. 225–253.
• Klute, G. K., and Hannaford, B., 1998, “Fatigue Characteristics of McKibbenArtificial Muscle Actuators,” IEEE/RSJ International Conference on IntelligentRobots and Systems, Victoria, BC, Canada, Oct. 13–17, pp. 1776–1781.
•Zhou, B., Accorsi, M., and Leonard, J., 2004, “A New Finite Element for ModelingPneumatic Muscle Actuators,” Comput. Struct., 82(11), pp. 845–856.
Eccentric Actuator
Ganesha Udupa, Pramod Sreedharan and Aditya K., “Robotic Gripper Driven by Flexible Micro Actuator based on Innovative
Technique”,2010 IEEE Workshop on Advanced Robotics and Social Impacts(ARSO-2010), p.p,111-116, Seoul, South Korea,2010.
Eccentric Actuator
Diameter 10mm
Suggested ReferencesG. Udupa, Study and development of an unconventional device for industrial applications including robots and instrumentation[M.S. thesis], University B.D.T College of Engineering, Davangere, India, 1992.
G. Udupa and R. Krishna Murthy, “A new flexing technique for soft Gripper design,” in Proceedings of the 16th All India Manufacturing Technology Design and Research Conference, pp. 353–358, Bangalore, India, December 1994.
S. Dinesh, R. Raveendran, K. Aditya, P. Sreedharan, and G.Udupa, “Innovative micro walking robot using flexible micro actuator,” in Proceedings of the 28th International Symposium onAutomation and Robotics in Construction, Seoul, Republic of Korea, June 2011.
G. Udupa, “Artificial robotic hand and process of manufacturing thereof,” Patent 3631/CHE/2011, 2011.
K. Suzumori, S. Iikura, and H. Tanaka, “Development of flexible micro actuator and its applications to robotic mechanisms,” in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1622–1627, Sacramento, Calif, USA, April 1991.
Biologically Inspired Design Process
Identification of the Need
Defining the problem in
terms of Engineering or
Biology
Suitable design procedure For
Eg:PB-BID,SB-BID,BICD
…etc
Studying existing
methods and available
techniques
Search for the Biological
Solutions
Extracting the Fundamental
Principles Eg: MorphologyRobotics Implementation of Principles
Mechanical Design, Analyses, Test and Results
Mo
du
lati
ng
Aditya kapilavai , Ning Tan and Mohan Rajesh Elara, “ BIOINSPIRED DESIGN: A CASE STUDY OF RECONFIGURABLECRAWLING-ROLLING ROBOT” In Review International conference on Engineering and Design ( ICED 2015)
Transformation phases between crawling and rolling
Thank you