Machines, Mechanism and Robotics: Proceedings of iNaCoMM 2017

Description

This book offers a collection of original peer-reviewed contributions presented at the 3^rd International and 18^th National Conference on Machines and Mechanisms (iNaCoMM), organized by Division of Remote Handling & Robotics, Bhabha Atomic Research Centre, Mumbai, India, from December 13^th to 15^th, 2017 (iNaCoMM 2017).

It reports on various theoretical and practical features of machines, mechanisms and robotics; the contributions include carefully selected, novel ideas on and approaches to design, analysis, prototype development, assessment and surveys. Applications in machine and mechanism engineering, serial and parallel manipulators, power reactor engineering, autonomous vehicles, engineering in medicine, image-based data analytics, compliant mechanisms, and safety mechanisms are covered. Further papers provide in-depth analyses of data preparation, isolation and brain segmentation for focused visualization and robot-based neurosurgery, new approaches to parallel mechanism-based Master-Slave manipulators, solutions to forward kinematic problems, and surveys and optimizations based on historical and contemporary compliant mechanism-based design. The spectrum of contributions on theory and practice reveals central trends and newer branches of research in connection with these topics.

Table of Contents

1. Front Matter
2. Elastic Stability of Lift Support Structure of RPC Trolley – Sandip Patel, S. P. Prabhakar, N. S. Dalal, Saurabh Pathak
3. Recovering Free Space from a Single Two-Point Perspective Image for Mobile Robot Navigation for Indoor Applications – V. Bhanu Chander, Thondiyath Asokan, Balaraman Ravindran
4. Image-Based Data Preparation for Robot-Based Neurosurgery – Abhishek Kaushik, T A Dwarakanath, Gaurav Bhutani, P. P. K. Venkata, Aliasgar Moiyadi
5. Gearbox Fault Detection Using Exponentially Weighted Moving Average Control Charts – Heera Lal, Prasad V. Kane
6. Generalized Point Correspondence Algorithm for Neuro-Registration – Surya Dwarakanath, Gaurav Bhutani, P. P. K. Venkata, Abhishek Kaushik
7. Stability Analysis of a Rigid Rotor Supported on Gas Foil Bearings Under Different Loading Conditions – Kamal Kumar Basumatary, Sashindra K. Kakoty, Karuna Kalita
8. Optimization of Rendering Data, Generation, and Isolation of ROI for Focused Neuronavigation – R. S. Nikhil Krishna, Surya Dwarakanath, Abhishek Kaushik, Gaurav Bhutani, P. P. K. Venkata, T A Dwarakanath et al.
9. Comparison of Hybrid and Parallel Architectures for Two-Degrees-of-Freedom Planar Robot Legs – Aditya Varma Sagi, Sandipan Bandyopadhyay
10. A Comparative Study of the Configuration-Space and Actuator-Space Forward Dynamics of Closed-Loop Mechanisms Using the Lagrangian Formalism – Anirban Nag, Sandipan Bandyopadhyay
11. Synthesis of Stationary-Active Axes Parallel Mechanisms and Applications – K. D. Lagoo, T A Dwarakanath, D N Badodkar
12. Direct Dynamics of a Space Robot Actuated by Control Moment Gyros – Yinghong Jia, Arun K. Misra
13. A Two-Degree-of-Freedom RSSR-SSR Manipulator for Sun-Tracking – Vimalesh Muralidharan, Sandipan Bandyopadhyay
14. An Exact Synthesis of Pick-and-Place Mechanisms Using a Planar Four-Bar Linkage – Aravind Baskar, Sandipan Bandyopadhyay
15. Forward Kinematics of the 3-RPRS Parallel Manipulator Using a Geometric Approach – Silla Pavan Santosh Kumar, Sandipan Bandyopadhyay
16. Development and Performance Evaluation of Indigenous Control System of 500 Kg Payload Six-DOF Shake Table – Shiju Varghese, P. Ramakrishna, Jay Shah, P. K. Limaye, S. Raghunathan
17. Analysis of Dynamic Interaction Issues for Omnidirectional Mobile Robot – G. R. Nikhade, S. S. Chiddarwar, A. K. Jha
18. Dynamics of Articulated Landing Gear in Tail-Down Landing Condition – Mahesh Kadam, S. Sathish, Aditya Bujurke, Keertivardhan Joshi, Balamurugan Gopalsamy
19. Self-synchronization of Two Unbalanced DC Motor-Driven Rotors on a Common Movable Platform – Anubhab Sinha, A. K. Samantaray, R. Bhattacharyya
20. Six DOF Mirror Alignment System for Beamline Applications – Sumit Kumar Sinha, T A Dwarakanath, Abhishek Jaju
21. Modeling, Design, Identification of D-H Parameters and Calibration of Surgical Coordinate Measuring Mechanism – Gaurav Bhutani, T A Dwarakanath, D N Badodkar
22. Kinematic Analysis of Carrier Mechanism for In-service Inspection of Sodium-Cooled Fast Reactor Internals – Sudheer Patri, Varun Kaushik, C. Meikandamurthy, B. K. Sreedhar, V. Prakash, P. Selvaraj
23. Dynamic Analysis of Partially Compliant Planar Slider–Crank Mechanism with Joint Clearance – S. Basumatary, J. Srinivas, Penta Akhil, Adhil Basheer
24. Mathematical Model for Pressure–Deformation Relationship of Miniaturized McKibben Actuators – K. P. Ashwin, Ashitava Ghosal
25. Wrench Guided Task Space Trajectory Control of Parallel Manipulators – Anirudh Krishnan Komaralingam, T A Dwarakanath, Gaurav Bhutani
26. Heuristic for Selection of Grasp Surfaces for Form-Closure on Polyhedral Objects – Tejas Tamboli, Sourav Rakshit
27. Building Autonomy in Outdoor Mobile Robots for Radiation and Video Survey – Shishir Kumar Singh, Namita Singh, Jagadish Kota, P. V. Sarngadharan
28. Workspace of Multi-fingered Robotic Hands Using Monte Carlo Method – Arkadeep Narayan Chaudhury, Ashitava Ghosal
29. Modular Mission Control for Automated Material Handling System and Performance Analysis—A Case Study – Namita Singh, Vaibhav Dave, Jagadish Kota, Shishir Kumar Singh, Rahul Sakrikar, P. V. Sarngadharan
30. On-Power Fuelling Machine for Advanced Heavy Water Reactor – Monesh Chaturvedi, M. Dev, S. Raghunathan
31. Effect of Whole-Body Flexibility of Caudal Fin on Propulsion Performance – N. Srinivasa Reddy, Soumen Sen, Chandan Har, Sankar Nath Shome
32. Comparative Evaluation of Steering Configurations for a 6 × 6 Wheeled Armoured Vehicle – V. V. Jagirdar, V. P. Maskar, M. W. Trikande
33. An Approach to Trajectory Planning for Underwater Redundant Manipulator Considering Hydrodynamic Effects – Virendra Kumar, Soumen Sen, Sankar Nath Shome, Shibendu S. Roy
34. Indigenous Mobile Robot for Surveillance and Mapping – K. Y. V. Krishna, A. Wadnerkar, G. M. Patel, G. Baluni, A. K. Pandey, R. M. Suresh Babu
35. Vision-Based Automated Target Tracking System for Robotic Applications – A. K. Pandey, K. Y. V. Krishna, R. M. Suresh Babu
36. An Eight-Wire Passively Driven Parallel Manipulator: Development and Analysis – Pratibha Vishnu Shinde, Soumen Sen, Pratik Saha, Dheeraj Singhal
37. An Open-Section Shell Designed for Customized Bending and Twisting to Ease Sitting and Rising in a Chair – Shamanth Hampali, Pai S. Anoosha, G. K. Ananthasuresh
38. Study of Dynamic Behavior of Active Steering Railway Vehicles – Smitirupa Pradhan, Arun Kumar Samantaray, Chandrajeet Pratap Singh
39. Design and Analysis of Spring-Based Rope Climbing Robot – Pinank R. Ratanghayra, Abdullah Aamir Hayat, Subir Kumar Saha
40. Generalized Method for Real-Time Object-Oriented Modeling and Simulation of Systems Applied to a Vehicle Wheel Suspension Mechanism – Rajat Dandekar, Frédéric Etienne Kracht
41. Kinematic and Dynamic Analyses of Four Bar Clamping Mechanism Operating in Liquid Sodium – Anu Krishnan, Jose Varghese, R. Vijayashree, S. Raghupathy, P. Puthiyavinayagam
42. Telepresence System with 3D Mouse and Path-Planning Functionality – Abhishek Jaju, Pritam Prakash Shete, P. V. Sarngadharan, Surojit Kumar Bose
43. Defect-Free Analytical Synthesis of Four-Bar Linkage for Four Precision Positions Using Perimeter Algorithm – Hitesh Kumar Prajapat, Ramanpreet Singh, Himanshu Chaudhary
44. Tuning Procedure for Correction of Systematic Errors in a Quad Configuration AGV – Vaibhav Dave, Shishir K. Singh, Jagadish Kota, Namita Singh, Rahul Sakrikar, V. K. Shrivastava et al.
45. Design of a Linkage-Based Backdrivable Underactuated Gripper – Vinay Kumar, J. P. Khatait, S. Mukherjee
46. Design of a Teleoperated Mobile Manipulator for Inspection of Cyclotron Vault – Amaren P. Das, S. K. Saha, D N Badodkar, S. Bhasin
47. Design and Development of an Efficient Onion Harvester for Indian Farms – Amogh Parab, Chinmay Sonar, Prasannajeet Mane, Janga Sai Kiran, Panna Lal Saini, Vineet Vashista
48. A Simplified Model for Contact Mechanics of Articular Cartilage and Mating Bones Using Bond Graph – Arvind Kumar Pathak, Anand Vaz
49. Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting Object – Deepak Raina, Sunil Gora, Suril Vijaykumar Shah
50. Non-dimensionalized Feasibility Maps for Designing Compliant Mechanisms – Kishor K. S. Bharadwaj, T. Ramesh, G. K. Ananthasuresh
51. Design Modification for Anti-choking Mechanism in Thresher Machine – Yasir Mahmood, Gowripathi Rao, Prem Singh, Himanshu Chaudhary
52. Development of an Automated System for Wire Wrapping and Spot Welding of PFBR Fuel Pin – Anupam Saraswat, Prateek Pareek, Madhusudan Sharma, Farman Ali, Rajashree Dixit, P. S. Somayajulu et al.
53. Experiences in Process Automation of Injection Casting Equipment Inside Glove Box – M. Bala Parandhama Raju, Abhishek Kumar Yadav, R. Lava Kumar, G. Yathish Kumar, G. Nantha Kumar, N. Kathiravan et al.
54. Degenerated Degree of Freedom Sensing Without Loss of Accuracy While Estimating the Rigid Body Parameters for the Calibration of a Two-Axis Robotic Arm – for Prototype Fast Breeder Reactor, Steam Generator Inspection System – S. Joseph Winston, Joel Jose, D. Jagadishan, S. Sakthivel, P. Visweswaran, S. Murugan et al.
55. Quintic Interpolation Joint Trajectory for the Path Planning of a Serial Two-Axis Robotic Arm for PFBR Steam Generator Inspection – G. Perumalsamy, P. Visweswaran, Joel Jose, S. Joseph Winston, S. Murugan
56. On the Dynamic Response of Rigid Rotor Supported by Rolling-Element Bearing – Chintamani Mishra, Abhishek Kumar Kashyap, Arun Kumar Samantaray
57. On High-Precision Large-Range Resonant-Amplified Scanning with Limited Range Actuation – Nilesh Bansod, Abhijit Tanksale, Prasanna Gandhi
58. Dynamic Analysis and Design Optimization of Automobile Chassis Frame Using FEM – Shrinidhi Rao, Ajay Bhattu
59. Active Vibration Absorber for a Nonlinear System with Time-Delay Acceleration Feedback for Superharmonic and Subharmonic Resonance Conditions – S. Mohanty, S. K. Dwivedy
60. Optimal Damping Factor for the Least Squares Inverse Kinematics for the Steam Generator Inspection System – S. Joseph Winston, P. V. Manivannan
61. A Partial Compliant Mechanism for Precise Remote-Center Motion – Tanveer ul Islam, Prasanna S. Gandhi
62. Prototype Fast Breeder Reactor Steam Generator Inspection System for Tube Inspections – S. Joseph Winston, S. Sakthivel, Joel Jose, D. Jagadishan, P. Visweswaran, S. Murugan et al.
63. Design and Fabrication of a Partially Statically Balanced Scissor Linkage Made of Bamboo Pieces – Sunil K. Singh, Sangamesh R. Deepak
64. Dynamic Analysis of Underwater Vehicle-Manipulator Systems – Anil Kumar Sharma, Vishal Abhishek, Subir Kumar Saha, N. Srinivasa Reddy, Soumen Sen
65. Briquette Compacting Machine: A Design for Rural Applications – C. Amarnath, Anirban Guha
66. Trajectory Tracking and Control of Car-Like Robots – Suhan Shetty, Ashitava Ghosal
67. Kinematic Analysis of a Suspended Manipulator – Saurabh Gupta, D. C. Kar, K. Jayarajan
68. Development of Tool Delivery System for In-Service Inspection of Pressure Tubes of 220 MWe PHWRs – Kundan Kumar, Sanjay Panwar, D. K. Nathani, K. Madhusoodanan
69. Two-Point Grasp Response – K. Rama Krishna, J. S. Vipin, Dibakar Sen
70. New Dynamic Model and Simulation of the Ballbot Using Reaction Wheels – Narendra Raja Sekhar, Mallikarjuna Korrapati, Roshan Hota, Cheruvu Siva Kumar
71. Master–Slave Teleoperation of Multi-DOF Cyton Robot with Input from PHANTOM Omni Using Visual Feedback – Mallikarjuna Korrapati, Sahil Raj, Aditya Kameswara Rao Nandula, Cheruvu Siva Kumar
72. Liquid Handling Robot for DNA Extraction – Gurpartap Singh, K. D. Lagoo, A. V. S. S. Narayan Rao, D N Badodkar
73. Dynamic Modeling of Cooperative Planar Bionic Manipulator – Tsegay Mulu Girmay, Inderjeet Singh, Pushparaj Mani Pathak, A. K. Samantaray, Rochdi Merzouki, Belkacem Ould Bouamama

Editors Biography

Dr. D. N. Badodkar, postgraduate in Electrical Engg., joined BARC Training School in the year 1980. After successful completion of the one year orientation training in Nuclear Science and Technology, he joined the Reactor Control Division, BARC, Mumbai in 1981 as Scientific Officer-C. Subsequently, he obtained his Ph.D. degree from Mumbai University. Presently, he is Distinguished Scientist, Director, Reactor Design and Development Group and Head, Division of Remote Handling and Robotics. He is also a senior professor in engineering sciences at Homi Bhabha National Institute (HBNI) and is the chairperson of various doctoral committees at HBNI and Raja Ramanna Centre for Advanced Technology. His expertise includes special purpose electrical drives, electromagnetic actuators, reactor control mechanisms and application specific automation systems. He is the recipient of DAE’s Technical Excellence Award-2000 and Group Achievement Award-2008, 2014, 2015 and 2016.

Dr. T A Dwarakanath graduated in Mechanical Engineering from University of Mysore.  He pursued Masters Degree and continued to obtain his PhD degree from the Indian Institute of Science, Bangalore in 1994. He joined BARC in 1993 as Scientific Officer-D.  He was awarded the BOYSCAST young scientist fellowship award by the Department of Science & Technology (DST) in the year 1997.  He was a visiting research scholar at the University of Florida, USA from 1998-1999.  He associated with Prof. Joseph Duffy and Prof. Carl Crane on the design of compliant platforms.  Presently, he is a Scientific Officer-H in BARC and holds a faculty position in the Homi Bhabha National Institute.  His interest and expertise is in the design and development of applications for Parallel Mechanism based systems.