Forthcoming articles

 


International Journal of Intelligent Machines and Robotics

 

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International Journal of Intelligent Machines and Robotics (2 papers in press)

 

Regular Issues

 

  • CONTACT POINTS DETERMINATION AND VALIDATION FOR GRASPING OF DIFFERENT OBJECTS BY A FOUR-FINGER ROBOTIC HAND   Order a copy of this article
    by Eram Neha, Mohd. Suhaib, Sudipto Mukherjee 
    Abstract: Grasping and manipulation of objects with the multi-fingered robotic hand is required in order to replace human hands in performing various tasks. It is desirable to analyse a robotic hand in comparison with the human hand in terms of stability and various grasp properties. Therefore, in order to attain a stable grasp, the contact points and the grip configuration must be selected in accordance with the grasp stability. In this paper, grasp analysis of the four-fingered tendon actuated robotic hand is carried out. The hand is simulated to grasp different objects in order to determine the contact points of the fingertips on the surface of these objects. Simulation of the hand is done to check the grasp capabilities prior to experimentation while grasping different objects and obtain the contact points for the same. MATLAB SimMechanics tool is used to perform the 3D visualization of the robotic hand where the fingers are controlled in order to grasp objects at the contact points. The obtained contact points are validated using the kinematics and geometric collision detection. These contact points are further utilized to determine the amount of weight required by the tendon to produce the flexion motion in order to grasp the object at the contact points.
    Keywords: Contact Points; Tip Prehension; Flexion motion; tendon actuated; SimMechanics.

  • Workspace Optimization of 3R Manipulator- A Multi-objective Approach   Order a copy of this article
    by Sumanta Panda, D. Mishra, Bibhuti Bhushan Biswal 
    Abstract: Optimum workspace with a compact manipulator is one of the decisive factors in the optimum design of robot manipulator. In this article the workspace volume of a 3R robot manipulator has been optimized on a multi-objective basis using Differential Evolution (DE) algorithm. An additional objective of this study is to synthesize the total void cross section area. The proposed algorithm is tested on four diverse examples. The result obtained are compared with the results available in the literature. The key design kinematic parameters are identified through a statistical analysis. To ensure the practical applicability the proposed design approach has been tested on two industrial manipulators viz. KUKA KR-30 and Mitsubishi MRP-700A. Furthermore, it has been found that the predicted results of the simulation are in excellent agreement with the actual values.
    Keywords: Optimization; Differential Evolution; Manipulator; Workspace volume.CPU time.