Presented 8 research papers on Robotics at the International Conference (Virtual) on Robotics, Intelligent Automation and Control Technologies (RIACT 2020) held on 2nd and 3rd Oct 2020 organized by Vellore Institute of Technology(VIT), Vellore, Chennai.

 

 

 

 

International Conference on

 

Robotics, Intelligent Automation &

 

Control Technologies

 

(RIACT 2020)

 

 

 

 

 

Research paper titled DESIGN AND VALIDATION OF A MATLAB SIMULATION TO OBTAIN CUSTOMIZED GAIT CYCLE FOR EXOSKELETON won the BEST PAPER AWARD.

 

 

RIACT 2020 Outstanding Paper Award

 


 

 

 

1.Inverse kinematic analysis of a fixture for fine alignment of central axis of top and bottom frame using simulation

 

Dr. S S Ohol and P S Aglawe

Paper ID: RIACT 121

 

In the field of robotics, the design and development of Stewart Platform is currently the widely discussed topic because of its complexity as well as the usefulness in many fields like military operations, biomedical, Stealth operations, etc. This research work focuses on designing fixtures using rotary actuators and Simulation of Stewart Platform in MATLAB. Fixture consists of controlling different degrees of freedom of the module, precise linear as well as rotary motion and motor position controller for every degree of freedom and enhanced real time control of each module. Inverse kinematic analysis of a fixture using Sim-mechanics of MATLAB is carried out. This fixture has a unique design considering space constraints and weight constraints. Above research work for automatic alignment of parallel robots with a payload of @5kg can be useful for many applications.

 

 

2.Comparative Need Analysis of Industrial Robot Calibration Methodologies

 

Sumedh N Chiwande and Dr. Shantipal S Ohol

Paper ID: RIACT 117

 

The paper focuses on a study of literature about available Industrial robot calibration techniques, technical relevance of its utility and summaries findings & reasons behind specific features of each type of method. Comparative analysis helps to identify and assess the present knowledge to identify the future research areas for developing the research interest on the particular needs. The study focuses on advantages and disadvantages of different measuring systems used for calibration. It is observed from literature surveys that the research focus about the calibration technique has moved towards the micro level classification of an industrial robot calibration process. The use of micro analysis, benchmarking and standardization of a calibration process requires additional research. Therefore various recent contributions on industrial robot calibration techniques have been analysed for establishing a commonly acceptable methodology.

 

 

3.Design and Development of In-pipe Inspection Robot for Various Pipe Sizes

 

Atul Gargade and Dr. Shantipal Ohol

Paper ID - RIACT 11

 

In-pipe inspection robots are designed to pull out the human role from work load and risky working circumstances. In this paper an in-pipe inspection robot version 2 (IPIR version 2) is presented which is composed of two driving leg systems, two supporting leg systems and a connecting body. Novelty of version 2 is its stability and diameter adaptability. Stability of version 2 is enhanced by adding two supporting leg systems in version 1 and diameter adaptability of version 2 is improved by optimizing its spring design. All major components of version 2 are designed safely. Solid modelling of all robot parts and its assembly is carried out in Solidworks 16. Mathematical modelling of version 2 is carried out by Lagrange's method. A planetary geared DC motor with encoder (IG42E-104K) is used as the prime mover of IPIR version 2. This robot has mainly employed aluminium as structural material. To verify the efficacy of the driving mechanism, several experiments of version 2 are conducted in horizontal pipes, vertical pipes and couplings of 8 inches to 10 inches diameter range. This IPIR version 2 will be employed for offline visual checking of various pipe components like horizontal pipes, vertical pipes and couplings in water pipelines, gas pipelines and drain pipes etc.

 

 

4. SEMI-AUTONOMOUS PARKING SYSTEM FOR AUTOMATIC TRANSMISSION VEHICLES

 

Sameer Kaware, Dr. S. S. Ohol

Paper ID - RIACT 122

 

This paper proposes an automated perpendicular parking strategy for a car which is to be designed. The design considers general cases of perpendicular parking for a rectangular body within a rectangular space. The system works in phases named: The Scanning phase, the parking environment is detected by ultrasonic sensors mounted on the extreme ends of the body and a parking position and maneuvering path is produced if the space is enough. Then in the positioning phase, the model positions itself and gets aligned with the parking space avoiding potential collisions. Finally, in the maneuvering phase, the model moves to the parking position in the parking space in a specified path, which requires clutch, brake control, backward and forward maneuvers depending on the dimensions of the parking space. Based on the characteristics, a collision-free path is planned about the surroundings. The strategy is to be integrated into an automated parking system, and implemented in the car, capable of safe parallel parking in tight situations and as an automated parking device to help vehicle drivers.

 

 

5. INDUSTRIAL ROBOT PERFORMANCE ANALYSIS USING LOW COST SET-UP

 

Kirti Chachane, Dr. S. S. Ohol,S Chiwande

Paper ID - RIACT 118

 

Industrial robot calibration is a technique used to increase industrial robot repeatability and accuracy. In this project, we have analyzed various calibration techniques of articulated industrial robots and proposed an original method to analyze Industrial robot performance analysis. The proposed calibration set-up technique is using a mechanical setup of Linear Variable Differential Transformer (LVDT) probe and inductive proximity sensor. The Statistical process control (SPC) software is used to monitor the real time data of the process and extract the data for statistical analysis. The proposed Industrial robot calibration technique is applied at ABB Six Degrees of Freedom industrial robot and analyzing the performance gets affected by various Robot parameters and Internal/External factors. The calibration method is proposed to evaluate the repeatability of an articulated industrial robot using components of a Statistical Analysis course.

 

 

6.Development of lower body exoskeleton, mathematical modeling and video analysis of its prototype for obtaining customized joint actuation ( BEST PAPER AWARD )

 

Dr. S. S. Ohol and K. D. Kalantri

Paper ID - RIACT 120

 

Exoskeleton technology has shown its importance in various fields of application such as military, medical, industrial and commercial. But wide use of this technology is limited due high cost and Customized application according to the user. If the exoskeleton has a different gait cycle than the unique natural gait cycle of the user, it will lead to injuries. Customization of exoskeleton gait cycle can overcome this challenge. Customized gait cycle according to user means control unit should provide output in form of position and torque in accordance to the natural gait cycle of the unique user. In this paper, A methodology is proposed and validated to obtain customized gait cycles for exoskeleton using video analysis and MATLAB simulation. Validation of Methodology is performed on normal human walking gait cycles. Video analysis performed in HALEX (Human Assistive Lower Limb Exoskeleton) is considered as a basic method to conduct video analysis of gait cycle for unique users and data obtained from their experiment considered as base data for position vs time analysis. Later data obtained from video analysis is used as input data to obtain results from MATLAB Simscape-Simulink simulations using generic algorithms. Above method is applied on biped robots to obtain results for normal human gait analysis. Simulations give results in both position and torque wrt time. Torque values are compared with values obtained from mathematical models and position values are compared with values obtained from Video gait analysis. Validation of methodology gave satisfactory results and later suggested methods can be used to obtain the resulting torque and gait cycle for exoskeleton.

 

 

7.Design, development and analysis of human exoskeleton for enhancing human capabilities

 

R V Vibhute, S S Yeole, S D Waghmare, T A Tonde and Dr. S S Ohol

Paper ID: RIACT 124

 

The study of the exoskeleton is widely recognized as the current challenge for robotic research. The exoskeleton helps us understand the complex gait cycles of the human locomotion. This paper aims to design a lightweight and easy to use powered dynamic exoskeleton with a higher weight carrying capabilities and produce gait cycles which imitate human locomotion. In this paper, we have proposed some novel mechanisms to overcome the limitations of heavy load-carrying capacities of the soldiers and also help with gait rehabilitation of patients with spinal cord injury, stroke, or neurological disorder. The exoskeleton is divided into the upper body and the lower body. The upper arm and the forearm are actuated by DC Geared motors and thus the upper limb can trace any path in the parasagittal plane. The thigh and calf segments are actuated by DC Geared motors to mimic the human gait cycle. The torques required to achieve this motion are discussed here.

 

8.Autonomous Snake Robot with Serpentine type Navigation

 

M G Bangar, H S Nirgude, S P Ghodake and Dr. S S Ohol

Paper ID: RIACT 126

 

Biological snakes can easily maneuver through complex and undulating terrains which gives the motivation to create a bio mimic robotic snake which can easily slither through narrow spaces and uneven surfaces unlike the wheeled or legged mechanisms that have terrain limitations for its maneuverability. Such robots can be used in rescue operations in earthquake areas where they can easily crawl, surveillance and maintain complex or dangerous structures like pipelines in nuclear power plants. In this paper we discuss the development of autonomous snake robot with serpentine type navigation. The paper discusses in detail about the design of the robot, mathematical modelling, and motion study in a virtual environment using MATLAB. The paper also discusses the controlling of the robot using Arduino Nano. The aim of the project is to develop a bio mimic snake which can maneuver over any terrains.