Additive Manufacturing for Fabrication of Robotic Components

Abstract

Additive manufacturing is a promising technology in the fabrication of robotic components, because of its capability of producing complex net-shaped parts with less working procedures in combination with material science. In this review, different kinds of robotic components produced by additive manufacturing are presented, including parts of soft robots, components of multi-materials, and unibody robotic structures. 

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Assessment of On-Grid and Off-Grid Electrification in Remote Villages of Chhattisgarh

 

Abstract

In this work, electrification scenario of the state of Chhattisgarh has been presented, which is the 10th largest state of India with a total population 25 million has total 19567 villages and 80% of the population lives in rural areas. Herein, we have bestowing 17 out of 133 villages in which electrification has been done in 2017 and 2018. All these villages are in the region Dantewada and Bijapur. These two regions consist most remote villages of the state and the awareness about, how electricity will help them in improving their lifestyle is quite less. The focus of the present work is aligned to investigate the electricity connectivity scenario of these remote villages. Further, alternative novel mechanism of the remote village electrification using magnetic fluid-based energy harvesting has been proposed which can eventually solves the major issues in remote village electrification.

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Unconventional Machining Process: Magnetorheological Fluid-Based Surface Finishing

 

Abstract

The development of new material with significantly improved properties, miniaturization of devices and complex design necessities in numerous domains of engineering, demands high productive, efficient and precise machining processes. Unconventional machining process (UMP) or non-traditional machining process provides solutions to these challenges and has extended their utility for the machining of complex shapes precision machining (micro-nano finishing), newly developed materials (alloys, composites, polymers, metals, rubber etc.). UMP have shown potential in the domain of micro-nano machining and provides better proposition with numerous intrinsic recompences which makes UMP a suitable substitution of the conventionally used machining process. The opportunities challenge, and recent developments of MRF based UMP method have been studied including several pragmatic applications in diverse manufacturing and industrial domains. This UMP techniques can further be modified to utilized it at its full potential in various engineering applications.

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Design, Modeling and Indigenous Firmware of Patient Assistance Flexible Robotic System-Type I: Beta Version

 

Abstract

The ensemble of Assistive Robotics is slowly emerging as the new front-edge research arena due to its wide-spread applications in health care sector. Although exoskeletons are is use to a limited extent in the field of health care, it has its own limitations so far the design, prototyping & miniaturization are concerned. Patient-centric customized health care is the need of the hour and research frontiers are also getting negotiated accordingly. One such promising application manifold of Assistive Robotics is the incorporation of multi-degrees-of-freedom flexible robotic system, equipped with tailor-made mini-gripper(s). In-line with the proposition an indigenous design, modeling and firmware of Patient Assistance Robot (PAR): Type I has been accomplished by us as version 1.0 prototype (Beta version). The characteristics of PAR v1.0 are identical to that of Flexible Robotic System with multiple links & intercepting joints, besides fittment of three different miniaturized grippers. The ensemble programming logic for the robot is developed towards controlling in-built vibration in real-time.

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Survey of Results Regarding the Energetic Balance for Some Motions of Newtonian and Non-Newtonian Fluids

Abstract

Exact expressions for dissipation, power of the shear stress at the wall, the energy variation and the boundary layer thickness are provided for three unidirectional motions of Newtonian and non-Newtonian fluids over an infinite plate that moves in its plane or applies a shear stress to the fluid.

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A Novel Fuzzy Trajectory Tracking Control Design for Wheeled Mobile Robot

 

Abstract

A novel fuzzy based control design for the trajectory tracking of wheeled mobile robot (WMR) is presented in this paper. This approach can be applied to generate trajectory tracking control commands on WMR movement. The design objective is to specify one fuzzy control law that can force the WMR to track a predefined trajectory for the nonlinear trajectory tracking control of WMR. In general, it is hard to obtain the closed-form solution from this nonlinear trajectory tracking problem, hence we try to treat this trajectory tracking problem from the so-called fuzzy control design concepts. Finally, one testing scenario: circular reference trajectory tracking is applied to performance verification.

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