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