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Manoah Stephen, M.
- Review on Gravity Compensation by Mechanism Synthesis
Abstract Views :177 |
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Authors
Affiliations
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, IN
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, IN
Source
Manufacturing Technology Today, Vol 19, No 1-2 (2020), Pagination: 53-60Abstract
An articulated robot spends a very high amount of energy carrying the weight of its own arm while working against gravity, which results in an increase in size actuators, which also increases the expense and weight of the system. Thus, a high amount of actuated power is utilized to compensate for the gravitational torques. Gravitational Torques are generated due to the mass of the robot arm and inertia of the payload. This torques severely affect the dynamic performance of the robot and the ability to withstand external forces. The presented review paper gives a detailed idea on various methods to compensate the gravitational torque, in which the gravity effect is compensated fully by a mechanical structure that reduces the actuator size.Keywords
Counter balance, Compensation, Non-Linear Spring, Pulley and Gear.
References
- Chheta, Y., Joshi, R., Gotewal, K.K., & Manoahstephen, M. (2017, January). Review on passive gravity compensation. In Proceedings of the International Conference on Electronics, Communication and Aerospace Technology, ICECA 2017, 184–189. Institute of Electrical and Electronics Engineers Inc.
- Endo, G., Yamada, H., Yajima, A., Ogata, M., & Hirose, S. (2010). Passive weight compensation mechanism with a non-circular pulley and a spring. In Proceedings - IEEE International Conference on Robotics and Automation, 3843–3848.
- Fattah, A., Hajizadeh, K., & Agrawal, S.K. (2011). Gravity balancing of a human leg using an external orthosis. Journal of Medical Devices, Transactions of the ASME, 5(1).
- Hung, Y.C., & Kuo, C.H. (2017). Novel one-DoF gravity balancer based on cardan gear mechanism. In Mechanisms and Machine Science, 43, 261–268. Kluwer Academic Publishers.
- Delphine, K., Jean-Pierre, F., & Y,P. (2008). ITER Relevant Robot for Remote Handling: On the Road to Operation on Tore Supra. In Advances in Service Robotics. InTech.
- Kim, K.Y., Song, H.S., Suh, J.W., & Lee, J.J. (2013). Novel surgical manipulator with workspaceconversion ability for telesurgery. IEEE/ASME Transactions on Mechatronics.
- Krüger, J., Bernhardt, R., & Surdilovic, D. (2006). Intelligent assist systems for flexible assembly. CIRP Annals - Manufacturing Technology, 55(1), 29–32.
- Rahman, T., Ramanathan, R., Seliktar, R., & Harwin, W. (1995). Simple technique to passively gravity-balance articulated mechanisms. Journal of Mechanical Design, Transactions of the ASME, 117(4), 655–657.
- Rogerio, Y., Andre, H., & Oswaldo, H. (2010). Load Balancer With Automatic Lifting Force Compensation. ABCM Symposium Series in Mechatronics, 4, 580-589.
- Shigematsu, H., Tsujita, K., & Kishimoto, N. (2014). Development of a gravity compensation system for the prototype test of spacecraft by using mobile type multi robots. In MOVIC 2014 - 12th International Conference on Motion and Vibration Control. Japan Society of Mechanical Engineers.
- Arakelian, V. (2016). Gravity compensation in robotics. Advanced Robotics, 30(2), 79–96. Taylor & Francis.
- A Review on Applications of Topology Optimization
Abstract Views :212 |
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Authors
Affiliations
1 Department of Mechanical Engineering, LDRP - Institute of Technology and Research, Gandhinagar, Gujarat, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, Gujarat, IN
1 Department of Mechanical Engineering, LDRP - Institute of Technology and Research, Gandhinagar, Gujarat, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, Gujarat, IN
Source
Manufacturing Technology Today, Vol 19, No 3-4 (2020), Pagination: 53-59Abstract
The main objective of Topology Optimization is optimal distribution of material in a given design space sustaining the applied load under given limiting conditions. It is a widely used design tool. It covers various fields like machine designing, aerospace, nano-optics, architecture, fluids, thermofluids, civil, frequency analysis etc. In this paper, the important role played by the topology optimization in different areas is discussed and focus is given on industrial, defence, space, and fusion application. This paper also gives insight about different types of advanced algorithmic methods used in topology optimization.Keywords
Topology, Optimization, Algorithms, Load.References
- Kim, B.J., Yun, D.K., Lee, S.H., & Jang, G.-W. (2016, April 12). Topology Optimization of Industrial Robots for System-Level Stiffness Maximization by using part-level metamodels. Structural and Multidisciplinary Optimization. Springer, 54(4), 1061-1071. doi:10.1007/s00158-016-1446-x
- Shah, C., Thigale, S., & Shah, R. (2018, June). Optimizing Weight of a Gear using Topology Optimization. International Journal of Science, Engineering and Research Technology (IJSETR). 7(6).
- Combescure, D., Beltran, F., Rueda, F., Espeche, A., Maqueda, L., Pastor, M., Salgado, S., & Ezeberry, J. (2011 November 6-11). Structural Analysis and Optimization of the ITER Tokamak Complex. Structural Mechanics in Reactor Technology. New Delhi.
- Ge, D., Zhu, L., & Xuan, D. (2017). Topology Optimization in Electric Car Body Frame based on Optistruct. MATEC Web of Conferences. EDP Sciences. doi:10.1051/matecconf/201710001016
- Fanni M., S. M. (2013, December). Comparison Between Diferent Topology Optimization Methods. Retrieved from Researchgate: https://www.researchgate.net/publication/265167203_A_Comparison_Between_Different_Topology_Optimization_Methods
- Harshal Pingale, S. V. (2018). IRAJ International Conference, 65-68. Pune.
- Manuelraj, M.S., Dutta, P., Gotewal, K.K., Rastogi, N., Tesini, A., & Choi, C.-H. (2015). Structural Analysis of ITER Multipurpose Deployer. Fusion Engineering and Design. 109-111, doi:http://dx.doi.org/10.1016/j.fusengdes.2015.12.039
- Kalanchiam, M., & Mannai, B. (2013). Topology Optimization of Aircraft Fuselage. International Journal of Aerospace and Mechanical Engineering. 7(5), 820-823.
- Prasad, M.S., Xavier, S., & Lakshmi, P. (2017, May). Launch Vehicle Topology Optimization using OPTISTRUCT. International Journal of Advance Engineering & Research Development, 4(5), 181-186.
- Ottmar, M., Albers, A., Sauter (1999, January). Topology Optimization of Large Real World Sructures. Retrieved from Researchgate: https://www.researchgate.net/publication/36452865_Topology_optimization_of_large_real_world_structures
- Nezhadali, V. (2011). Multi-Objective Optimization of Industrial Robots. M.S. Thesis, Linköping University, Department of Management and Engineering, Sweden, North Europe.
- Panin A., Biel, W., Philippe, M & Nunio, F. (2017). Mechanical Pre-Dimensioning & Pre-Optimization of the Tokamaks’ Toroidal Coils Featuring the Winding Pack Layout. Fusion Engineering and Design. 124, 77-81.doi:http://dx.doi.org /10.1016/j.fusengdes.2017.04.065
- Ma, Q.S., Cai, Y., & Tian, D.X. (2012, March 1). Topology Optimization of High Pressure Storage Tank. Advanced Materials Research. 430-432, 828-833.doi:10.4028/www.scientific.net/AMR.430-432.828
- Patel, N., & Rokade, V. (2017). Topology Optimisation and Fabrication Aspects for Light Weight Design of an Articulating Beam of Articulating Launching System. Defence Science Journal. 68(1), 26-32. doi:10.14429/dsj.68.11991
- Amrollahi, R., Minoo, H., Khorasani, S., & Dini, F. (2000, January). Optimization of Tokamak Poloidal Field Configuration by Genetic Algorithms. Retrieved from Researchgate: https://www.researchgate.net/publication/228456672_Optimization_of_Tokamak_Poloidal_Field_Configuration_by_Genetic_Algorithms
- Srinivas, A.R. (2008). Robust Design and Realization of Spacecraft Payload Elements Using OptiStruct as an Optimization Tool. 4 th Indian/ASEAN HTC’08 Conference. Bangalore.
- Yang, X.Y., Xie, Y.M., & Steven, G.P. (2005). Evolutionary Methods for Topology Optimisation of Continuous Structures with Design Dependent Loads. Computers and Structures. 83(12-13), 956-963. https://doi.org/10.1016/j.compstruc.2004.10.011
- Huang, H.B., & Zhang, G. (2012, October). The Topolgy Optimization for L-Shape Arm of Motorman-HP20 Robot. Applied Mechanics & Materials, 201-202, 871-874. doi: 10.4028/www.scientific.net/AMM.201-202.871
- Review of Parallel Manipulator for Various Applications
Abstract Views :196 |
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Authors
Affiliations
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, IN
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, IN
Source
Manufacturing Technology Today, Vol 19, No 5-6 (2020), Pagination: 45-50Abstract
This paper highlights, various applications of parallel manipulator having multiple degrees of freedom (DOF). Parallel manipulators are used in various fields such as industry, space, medical, fusion reactor, and virtual reality. Here the focus is given to nuclear fusion applications. A review of kinematic analysis and dynamic analysis has been described. Also, there is a discussion on the use of a flexible joint to increase the performance of the system.Keywords
Parallel manipulator, Delta robot, Fusion, Medical, Industry.References
- Dasguptaa, B.T.M., & Mruthyunjaya, T.S. (2000). The Stewart platform manipulator: a review. Mechanism and Machine Theory, 35(1), 15-40.
- Wang, D., & Fan, R. (2016). Design and Nonlinear Analysis of a 6-DOF Compliant Parallel Manipulator with Spatial Beam Flexure Hinges. Precision Engineering, 45, 365-373 10.1016/j.precisioneng.2016.03.013.
- Dohner, J.L., Kwan, C.M., & Regelbrugge, M.E. (1996). Active chatter supression in an octahedral hexapod milling machine: a design study. Proceedings Volume 2721, Smart Structures and Materials 1996: Industrial and Commercial Applications of Smart Structures Technologies; (1996) https://doi.org/10.1117/12.239144
- Furqan, M., & Alam, D.N. (2013). Finite Element Analysis of a Stewart Platform using Flexible Joints. 1st International and 16th National Conference on Machines and Mechanisms (iNaCoMM2013), 1044-1049, IIT Roorkee.
- Furqan, M., & Suhaib, M. (2014). Some Studies on Parallel Manipulator – A Review. Journal of Basic and Applied Engineering Research, 1(3), 99-104.
- Furqan, M., Suhaib, M., & Ahmad, N. (2017). Studies on Stewart platform manipulator: A review. Journal of Mechanical Science and Technology, 31 , 4459-4470.
- Graziosoa, S., Gironimoa, G.D., Iglesiasb, D., & Sicilianoa, B. (2019). Screw-based dynamics of a serial/parallel flexible manipulator for DEMO blanket remote handling. Fusion Engineering and Design, 139, 39-46.
- Merlet, J.P. (1993). Parallel manipulators state of the art and perspectives. Journal of Advanced Robotics, 8(6), 589-596.
- Patel, Y.D., & George, P.M. (2012). Parallel Manipulators Applications—A Survey. Modern Mechanical Engineering, 2(3), 57-64. 10.4236/mme.2012.23008.
- Wu, P., Wu, C., & Yu, L. (2008). Method for Forward Kinematics of Stewart Parallel Manipulators. Intelligent Robotics and Applications (ICIRA 2008). Lecture Notes in Computer Science, 5314, Springer-Verlag Berlin Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_19
- Qian, S., Zi, B., Shang, W.W., & Xu, Q.S. (2018). Review on Cable-driven Parallel Robots. Chinese Journal of Mechanical Engineering, 1-11.
- Tang, X. (2014). Overview of the Development for Cable-Driven Parallel Manipulator. Advances in Mechanical Engineering, 1-9.
- Tsujita, K., Shigematsu, H., & Kishimoto, N. (2014). Development of a gravity compensation system for the prototype test of spacecraft by using mobile type multi robots. MOVIC 2014 - 12th International Conference on Motion and Vibration Control.Researsh Gate, 1-7.
- Wu, H., Handroos, H., Pessi, P., Kilkki, J., & Jones, L. (2005). Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel. Fusion Engineering and Design, 75-79, 625-631.
- Wu, D., Wang, L., & Li, P. (2016). 6-DOF Exoskeleton for Head and Neck Motion Assist with Parallel Manipulator and sEMG based Control. CoDIT’16, 341-344.
- Zhang, N., Huang, P., & Li, Q. (2018). Modeling, design and experiment of a remote-center-ofmotion parallel manipulator for needle insertion. Robotics and Computer–Integrated Manufacturing, 50, 193-202.
- Review on Grippers Used in Remote Handling Applications
Abstract Views :299 |
PDF Views:0
Authors
Affiliations
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, IN
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, IN
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, IN
Source
Manufacturing Technology Today, Vol 19, No 7-8 (2020), Pagination: 3-11Abstract
Various Remote Handling applications require a gripper for either a simple pick and place operation or a complex operation like the replacement of plasma-facing components inside a tokamak. Grippers require a high level of dexterity and performance. Presented review work deals with the review of the grippers used for the said operations along with a brief classification of grippers. The ability of the gripper to work under normal and challenging conditions is the main focus of the paper. This paper also discusses the grippers used in a vacuum environment, grippers used in fusion applications, Impactive grippers, adaptive grippers, and complaint grippers.Keywords
Grippers, Remote Handling, Gripper Applications, Compliant Grippers.References
- Amend, J.R., Brown, E., Rodenberg, N., Jaeger, H.M. & Lipson, H. (2012). Positive Pressure Universal Gripper Based on the Jamming of Granular Material. IEEE Transactions on Robotics. 28(2), 341-350.
- Basson, C., Bright, G., & Walker, A.J. (2018). Testing flexible grippers for geometric and surface grasping conformity in reconfigurable assembly systems. South African Journal of Industrial Engineering. 29(1), 128-142. DOI: 10.7166/29-1-1874
- Birglen, L. (2019). Design of a partially-coupled self-adaptive robotic finger optimized for collaborative robots. Autonomous Robots. 43(2), 523-538.
- Crooks, W., O’Sullivan, M., Vukasin, G., Messner, W., & Rogers, C. (2016). Fin Ray Effect Inspired Soft Robotic Gripper: From the RoboSoft Grand Challenge toward Optimization. Frontiers in Robotics and AI, 3. DOI: 10.3389/frobt.2016.00070
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- Fuster, A.M.G. (2015). Gripper design and development for a modular robot. The Technical University of Denmark, Department of Electrical Engineering.
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