Forthcoming articles


International Journal of Mechanisms and Robotic Systems


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International Journal of Mechanisms and Robotic Systems (6 papers in press)


Regular Issues


  • Alternate driving mechanism for a lever propelled-wheelchair   Order a copy of this article
    by Chendur Singaram Senthilnathan, Kartik Prakash, Thillaigovindan Ramesh 
    Abstract: This paper deals with the design and analysis of a mechanism for a wheelchair which is propelled using lever with our hands. The mechanism is placed on both sides of the wheelchair and are actuated independently with a lever on each side. The lever which is pivoted about an axis to the sides with help of bearing has to be pushed and pulled continuously to propel the wheelchair. Two sprockets and the lever of the mechanism are constrained to rotate together mounted over a bearing attached to the frame of the wheelchair on both sides. These two sprockets are each meshed with a freewheel which is coaxially placed with axis of rotation of wheels of the wheelchair through cycle chains. One of the sprocket and freewheel on both sides is meshed in cross-over chain configuration. This enables the wheelchair to propel forward in both push and pull strokes of the lever.
    Keywords: Lever ; Sprocket ; Freewheel ; push ; pull ; cross-chain ; propel ; manually-driven ; mechanism ; bicycle chain.

  • Hardware and Software Codesign Methodology for Implementing Algorithms of Person Follower Robotic System   Order a copy of this article
    by Sanjay D, Rajesh K. Panakala, Satya Savithri Tirumala 
    Abstract: Service sector is expecting more innovations in the field of robotics and automation due to manpower shortage, changes in society and increased level of affordability to the people. This paper presents development of an intelligent service robot to monitor activity of an elder person or differently-abled person. In particular this paper presents development of Person Follower Algorithms and their implementation using Hardware-Software codesign methodology. This work also includes usage of Adaptive Neural Network based Fuzzy Inference System (ANFIS) for implementing a robotic task. The intelligent service robot is developed by integrating an IP camera with a NI Single Board Rapid Input Output (sbRIO) which has steering ultrasonic sensor. The sbRIO is chosen to take the advantage of existing system and it is suitable for HW-Software codesign. The efficacy of algorithms are validated by conducting a set of experiments in our research laboratory.
    Keywords: IP Camera; Hardware-Software codesign; Ultrasonic sensor; Fuzzy logic; Person follower Robotics algorithms; Adaptive neuro fuzzy inference system; FPGA device;.

  • Dimensional Optimization of a 3 DoFs Spherical Parallel Manipulator for Rehabilitation by Using Firefly Algorithm   Order a copy of this article
    by Samet Yavuz, Ozgun Selvi 
    Abstract: This study deals with the dimensional optimization problem of a 3 DoFs 3 legged spherical parallel robot with a desired workspace which planning to be used as a rehabilitation robot for human wrist. The movement of the end-effector will provide all DoFs of human wrist joint. Each legs of manipulator have 2 spherical links and all joint axes on these links are intersecting on a common point. Inverse kinematics equations are solved and Jacobian matrices are obtained of this mechanism to obtain an objective function for optimization algorithm. Later, the architectural optimization with desired work space are made by using Firefly Algorithms. Finally, a simulation was done to test the obtained dimensional parameters in desired workspace.
    Keywords: Rehabilitation Robotics; Parallel Rehabilitation Manipulator; Firefly algorithm rn.

  • Design of an Automated Tool Changeover for Wheel Mobile Robot   Order a copy of this article
    by Nisha Bhatt, Nathi Ram Chauhan, Kanika Rathore 
    Abstract: This paper addresses the problem associated with wheel mobile robots used for military applications. These mobile robots are used for dealing with potential explosives. Sometimes while dealing with improvised explosives tools are required. These tools need to be carried by the robot to the suspected area. Hence an automatic tool changeover is suggested that can carry the tools to the civilian or military settings and can be easily assembled on the platform of wheel robot.
    Keywords: Automatic Tool Changeover; Mobile Robot; Geneva Mechanism; ANSYS; ADAMS.

  • Evaluation of Tele-manipulation of 6 DOF Robot using Haptic Device   Order a copy of this article
    by Kanika Rathore, Nathi Ram Chauhan, Nisha Bhatt 
    Abstract: Tele-manipulation enjoyed a vast application in the field of robotics. The advent of technologies such as haptic devices made tele-manipulation more expedient and realistic. The challenge is to opt for a suitable motion mapping technique as the demand of each tele-manipulation system varies. This paper presents an experimental setup to tele-manipulate a mobile 6 DOF Robot using Phantom Omni Haptic Device by Sensable Technologies. The robot handles hazardous and incendiary material and thus demands large as well as precise manipulations. The workspaces of master haptic device and slave robot vary majorly. Kinematics of both master and slave robot is analyzed and Positioning with Modified Rate control mapping technique is realized. The upshot of the experiment affirms the feasibility and ease of use of this mapping technique. A few limitations of this approach are also discussed.
    Keywords: Teleoperation; Phantom Omni; 6 DOF Robot,Master Robot,Slave Robot.

  • Characterization and Control of IPMC for Use in Bio-inspired Actuators   Order a copy of this article
    by Sabreen Abdallah Abdelwahab, Farid A. Tolbah, Magdy M. Abdelhameed, Mohamed B. Trabia, Mohammed I. Awad 
    Abstract: this paper presents the development and design of a bio-inspired artificial muscle actuator. The proposed design uses Ionic Polymeric Metallic Composites (IPMC), which functions as the force generating source in the actuator. The relation between input voltage and position of the end point IPMC actuator was characterized experimentally. A mathematical model is developed and used in controlling the IPMC motion using a PID controller. The controller shows a good tracking of the reference signals sent to test the system. A real time control system is developed. Experimental results show that it exhibited good tracking with respect to the reference signals.
    Keywords: IPMC Control; PID; Linear Actuator; Modeling; IPMC Characterization; bio-inspired actuator; Soft Robotics; Real Time Control.