1. Research Interests
•Bio-Inspired Robots
•Reconfigurable Robot
•Kinematics , Dynamics & Control
•Compliant Mechanisms
•Soft Actuators & Sensors
Aditya KSKV, Research Summary
Till -2015 May

2. Kinematic Analysis of A Novel 3- RSR
Mechanism for Finger Tip Haptics
Aditya Kapilavai, M.Solazzi, Daniele leonardis, Basilio Lenzo and Antonio Frisoli , “Kinematic
Analysis of A Novel 3- RSR Mechanism for Finger Tip Haptics” communicated Robotica Journal

3. Cutaneous stimuli are fundamental in recognizing shapes in
curvature discrimination tasks and to improve the illusion of
presence in virtual and remote environments

4. Novel 3- RSR Kinematic
Architecture
Workspace of the end-effector, obtained considering
a range of 45° angular displacement for each
actuator.
Kinematics of the presented haptic device

5. Constraint and actuation wrenches of the mechanism

6. MOTION PLANNING BY USING
DIFFERENTIAL KINEMATICS

7. Suggested References
L-W. Tsai, “A Three Degree of Parallel Manipulators With Only
Translational Degree of Freedom” , Ph.D. thesis, University of
Maryland, college park, MD, pp.64-89,1997.
G.R.Dunlop, T.P.Jones, “Position Analysis of A 3-DOF Platform
Manipulator”, Mech. Mach. Theory, Vol.32, 1997, No.8,
pp.903-920.
Sameer A. Joshi, “A Comparative Study of Two Classes of
3-DOF Parallel Manipulators” , Ph.D. thesis, University of
Maryland, college park, MD,pp.40-96 , 2002.
Raffaele Di Gregorio ,"Inverse position analysis, workspace
determination and position synthesis of parallel manipulators
with 3-RSR topology", Robotica 2003 volume 21,pp.627-632

8. Motivation
Pneumatic
actuator
Characterization
Control e
S=0
Miniaturized Pneumatic
Artificial Muscle (MPAM)
Chakravarthy,S.,andAditya,K.,Ghosal,A.,“ExperimentalCharacterizationandControlofMiniaturiz
edPneumaticArtificialMuscle,ASME Journal of Medical Devices, Vol 8 (4),Paper No: Med -13-
1273,2014

9. Device
Endoscope
Conceptual surgical
device for NOTES
surgery

10. Performance
Properties
Electromagnetic
Motor
Shape Memory
Alloy
Pneumatic
Artificial Muscle
Force to weight
ratio
Compliance
Response time
Control
Size
Excellent
Good
Bad
PAM
•Inert
•Low cost of manufacturing

11. Fabrication of MPAM
Diameter
1.2 mm

12. Working
Initial Position when P=0
Braid Angle = 38o
When P=120 PSI
Braid Angle=89o

13. Setup for characterization

14. Maximum force characterization

15. Complete characterization

16. Hysteresis in the fabricated
MPAMs

17. (a)Geometric representation of the actuator,
(b) pantograph representation of the braid.
Kinematics Model of MPAM
(a)
(b)
To get clear idea for modeling and understanding please read the paper

18. Length versus cosine of braid angle plot for (a) 97mm,
(b) 117mm, and (c) 143mm

19. Compressor Reservoir Proportional
Valve
Pneumatic
Muscle
Pressure
Transducer
Controller
Current
DriverPressure
regulating
switch
Pressurized
Air
p
pV
u
i
Closed loop operation

20. Device

21. Summary
• Pneumatic muscle as soft actuator
• MPAM developed and characterized
• Robust control of MPAM
• Initial prototype of an endoscopic surgical device

22. Suggested References
•Chou, C.-P., and Hannaford, B., 1996, “Measurement and Modelling of
McKibben Pneumatic Artificial Muscles,” IEEE Trans. Rob. Autom., 12(1),pp. 90–102.
• Tonus, B., and Lopez, P., 2000, “Modelling and Control of McKibben Artificial
Muscle Robot Actuators,” IEEE Control Syst. Mag., 20(2), pp. 15–38.
• Tondu, B., 2012, “Modelling of the McKibben Artificial Muscle: A Review,”
J. Intell. Mater. Syst. Struct., 23(3), pp. 225–253.
• Klute, G. K., and Hannaford, B., 1998, “Fatigue Characteristics of McKibben
Artificial Muscle Actuators,” IEEE/RSJ International Conference on Intelligent
Robots and Systems, Victoria, BC, Canada, Oct. 13–17, pp. 1776–1781.
•Zhou, B., Accorsi, M., and Leonard, J., 2004, “A New Finite Element for Modeling
Pneumatic Muscle Actuators,” Comput. Struct., 82(11), pp. 845–856.

23. Eccentric Actuator
Ganesha Udupa, Pramod Sreedharan and Aditya K., “Robotic Gripper Driven by Flexible Micro Actuator based on Innovative
Technique”,2010 IEEE Workshop on Advanced Robotics and Social Impacts(ARSO-2010), p.p,111-116, Seoul, South Korea,2010.

24. Eccentric Actuator
Diameter 10mm

25. Suggested References
G. Udupa, Study and development of an unconventional device for industrial applications
including robots and instrumentation[M.S. thesis], University B.D.T College of Engineering,
Davangere, India, 1992.
G. Udupa and R. Krishna Murthy, “A new flexing technique for soft Gripper design,” in
Proceedings of the 16th All India Manufacturing Technology Design and Research
Conference, pp. 353–358, Bangalore, India, December 1994.
S. Dinesh, R. Raveendran, K. Aditya, P. Sreedharan, and G.Udupa, “Innovative micro walking
robot using flexible micro actuator,” in Proceedings of the 28th International Symposium on
Automation and Robotics in Construction, Seoul, Republic of Korea, June 2011.
G. Udupa, “Artificial robotic hand and process of manufacturing thereof,” Patent
3631/CHE/2011, 2011.
K. Suzumori, S. Iikura, and H. Tanaka, “Development of flexible micro actuator and its
applications to robotic mechanisms,” in Proceedings of the IEEE International Conference
on Robotics and Automation, pp. 1622–1627, Sacramento, Calif, USA, April 1991.

26. Biologically Inspired Design
Process
Identification of the Need
Defining the problem in
terms of Engineering or
Biology
Suitable design procedure For
Eg:PB-BID,SB-BID,BICD
…etc
Studying existing
methods and available
techniques
Search for the Biological
Solutions
Extracting the Fundamental
Principles Eg: Morphology
Robotics Implementation
of Principles
Mechanical Design,
Analyses, Test and Results
Modulating
Aditya kapilavai , Ning Tan and Mohan Rajesh Elara, “ BIOINSPIRED DESIGN: A CASE STUDY
OF RECONFIGURABLECRAWLING-ROLLING ROBOT” In Review International conference on
Engineering and Design ( ICED 2015)

28. Transformation phases between crawling and rolling

29. Thank you