RESEARCH

CURRENT PROJECTS

CABLE-DRIVEN parallel ROBOTS

A cable-driven parallel robot uses cables to drive the end-effector instead of conventional rigid links. Cable-driven robots can cover large workspaces with high stiffness, lower inertia and at a much lower cost. However, these robots experience nonlinear vibrations and cable slack, resulting in loss of precision and lower throughput. This research tries to address these challenges.

This research is funded by the Anusandhan National Research Foundation (ANRF) through the Prime Minister Early Career Research Grant (PM-ECRG) and the Indian Institute of Technology (Goa) through the Startup Research Grant (SRG).

STEWART PLATFORM

This research focuses on modelling and control of Stewart platform systems for space docking applications.

This research is funded by the Indian Space Research Organization (ISRO) through Respond program.

metal additive manufacturing

Parts fabricated using metal additive manufacturing suffer from residual stresses and distortions due to large thermal gradients. This research focuses on control of the manufacturing process to achieve a more homogenous temperature distribution.

3D Printing

3D printers have the ability to revolutionize manufacturing. They have the ability to fabricate customized and complex parts. This research focuses on improving quality and productivity in 3D printing through use of motion and process control.

TENDON-DRIVEN CONTINUUM ROBOT

This project focuses on modelling, design and control of tendon-driven continuum robots for marine and healthcare applications.

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