Modular Robotics in Service Sector(Design, Manufacturing and Control, IIT Ropar)
A broad perspective is presented for the utilization of modular robotic arms in various industrial tasks, particularly for cluttered environments. Parameters-based modules are proposed to develop reconfigurable manipulators according to the robotic parameters, resulting out of the design procedure.
Vision: A multi-layered approach for modules inventory, which can be referred as base for the further additions in the types of modules required in the library. A case study on a realistic problem of challenging welding sites has been worked upon recently as one example of the upper layer of multi-layered spectrum.
A Multi-layer approach to showcase the spectrum of possible service applications of modular robotic manipulators
Artificial skin with pressure and strain sensing capabilities for robotic systems (Mechanical + Materials, IIT Ropar)
With the application areas of robotic system is ever growing from security to medical to agriculture, there is a need to develop advance sensors which can allow robots to interact with surroundings in a better way. Our goal is to develop artificial skin with pressure and strain sensing capabilities. The primary requirement for such a skin will be that it should be flexible and exhibit desired resistance to external thermal and mechanical loadings. To this end, a novel artificial skin is being developed using advanced materials design concepts like functionally graded materials and carbon nanotube based hybrid and nano-composites. The first trial of artificial skin will consist of soft, elastic material filled with carbon nanotubes. The integrity of the developed skin with base robot material will be tested using multitude of experimental and computation tools
Environment Development in Customised Robot Design
(ME+CSc, IIT Ropar)
Exact construction of the manipulator’s environment and the boundaries is of significant importance because of its impact on manipulator design. A common approach of determining manipulator workspaces is geometric modelling. However, it is difficult and time consuming to develop a geometric model of a cluttered environment. So this approach will help in generating geometric model of a real environment by taking images of the environment.
|Robotic Dispensing of Slurry|
(DRDO, IIT Ropar)
The aim of the project is to develop a dispensing robot for customer application of slurry deposition on a plate. The type of robotic system can be decided on the basis of load at the end effector, work area, repeatability, cycle time and planes of operation. The most common type employed for the deposition application is coordinate robot gantry mechanism however other types of mechanisms such as SCARA and DELTA have also been adopted for similar purposes like open source 3D printers. The lower inertia of SCARA configuration is advantageous over coordinate robots, thus allowing higher deposition head [gun] speeds possible. Moreover available CAD/CAM techniques have made the fabrication and assembly of these configurations easy, but these require complex support frames. The plan for the project is to understand the exact need of the customer in terms of the surfaces on which the deposition has to be performed, required path, speed of end effector, constraints in work environment, preferred cycle time and rate of production
|Inverse Kinematics of a Customised Surgical Arm|
(CSIO Chd, IIT Ropar, TU)
The ongoing task is towards the inverse kinematics solution for redundant arms which can be used in real-time control.
The increasing applications of robotic manipulation demand versatile manipulators which can work in cluttered environments of the industries. Relying upon the standard robotic arms is not appreciable and focus changes towards redundant manipulators which can manoeuvre through complex workspaces without much difficulty. The kinematically redundant manipulators which possess more degrees-of-freedom (dof’s) then required for the task, contribute to a great extent in collision avoidance, singularity avoidance and also in fault-tolerance. However, these advantageous extra dof’s come with the inherent problem of infinite solutions to inverse kinematics of the manipulator.
|- Quadcopter (Mechanical, IIT Ropar)|
- Robotic Manipulator for Nuclear applications