Machines, Mechanism and Robotics: Proceedings of iNaCoMM 2017

This book offers a collection of original peer-reviewed contributions presented at the 3^rd International and 18^th National Conference on Machines and Mechanisms (iNaCoMM), organized by Division of Remote Handling & Robotics, Bhabha Atomic Research Centre, Mumbai, India, from December 13^th to 15^th, 2017 (iNaCoMM 2017).

It reports on various theoretical and practical features of machines, mechanisms and robotics; the contributions include carefully selected, novel ideas on and approaches to design, analysis, prototype development, assessment and surveys. Applications in machine and mechanism engineering, serial and parallel manipulators, power reactor engineering, autonomous vehicles, engineering in medicine, image-based data analytics, compliant mechanisms, and safety mechanisms are covered. Further papers provide in-depth analyses of data preparation, isolation and brain segmentation for focused visualization and robot-based neurosurgery, new approaches to parallel mechanism-based Master-Slave manipulators, solutions to forward kinematic problems, and surveys and optimizations based on historical and contemporary compliant mechanism-based design. The spectrum of contributions on theory and practice reveals central trends and newer branches of research in connection with these topics.

Table of Contents

Chapter 1. Elastic Stability of Lift Support Structure of RPC Trolley
Chapter 2. Recovering Free Space from a Single Two-Point Perspective Image for Mobile Robot Navigation for Indoor Applications
Chapter 3. Image-Based Data Preparation for Robot-Based Neurosurgery
Chapter 4. Gearbox Fault Detection Using Exponentially Weighted Moving Average Control Charts
Chapter 5. Generalized Point Correspondence Algorithm for Neuro-Registration
Chapter 6. Stability Analysis of a Rigid Rotor Supported on Gas Foil Bearings Under Different Loading Conditions
Chapter 7. Optimization of Rendering Data, Generation, and Isolation of ROI for Focused Neuronavigation
Chapter 8. Comparison of Hybrid and Parallel Architectures for Two-Degrees-of-Freedom Planar Robot Legs
Chapter 9. A Comparative Study of the Configuration-Space and Actuator-Space Forward Dynamics of Closed-Loop Mechanisms Using the Lagrangian Formalism
Chapter 10. Synthesis of Stationary-Active Axes Parallel Mechanisms and Applications
Chapter 11. Direct Dynamics of a Space Robot Actuated by Control Moment Gyros
Chapter 12. A Two-Degree-of-Freedom underlineRSSR-SSunderlineR Manipulator for Sun-Tracking
Chapter 13. An Exact Synthesis of Pick-and-Place Mechanisms Using a Planar Four-Bar Linkage
Chapter 14. Forward Kinematics of the 3-underlineRPRS Parallel Manipulator Using a Geometric Approach
Chapter 15. Development and Performance Evaluation of Indigenous Control System of 500 Kg Payload Six-DOF Shake Table
Chapter 16. Analysis of Dynamic Interaction Issues for Omnidirectional Mobile Robot
Chapter 17. Dynamics of Articulated Landing Gear in Tail-Down Landing Condition
Chapter 18. Self-synchronization of Two Unbalanced DC Motor-Driven Rotors on a Common Movable Platform
Chapter 19. Six DOF Mirror Alignment System for Beamline Applications
Chapter 20. Modeling, Design, Identification of D-H Parameters and Calibration of Surgical Coordinate Measuring Mechanism
Chapter 21. Kinematic Analysis of Carrier Mechanism for In-service Inspection of Sodium-Cooled Fast Reactor Internals
Chapter 22. Dynamic Analysis of Partially Compliant Planar Slider–Crank Mechanism with Joint Clearance
Chapter 23. Mathematical Model for Pressure–Deformation Relationship of Miniaturized McKibben Actuators
Chapter 24. Wrench Guided Task Space Trajectory Control of Parallel Manipulators
Chapter 25. Heuristic for Selection of Grasp Surfaces for Form-Closure on Polyhedral Objects
Chapter 26. Building Autonomy in Outdoor Mobile Robots for Radiation and Video Survey
Chapter 27. Workspace of Multi-fingered Robotic Hands Using Monte Carlo Method
Chapter 28. Modular Mission Control for Automated Material Handling System and Performance Analysis—A Case Study
Chapter 29. On-Power Fuelling Machine for Advanced Heavy Water Reactor
Chapter 30. Effect of Whole-Body Flexibility of Caudal Fin on Propulsion Performance
Chapter 31. Comparative Evaluation of Steering Configurations for a 6 × 6 Wheeled Armoured Vehicle
Chapter 32. An Approach to Trajectory Planning for Underwater Redundant Manipulator Considering Hydrodynamic Effects
Chapter 33. Indigenous Mobile Robot for Surveillance and Mapping
Chapter 34. Vision-Based Automated Target Tracking System for Robotic Applications
Chapter 35. An Eight-Wire Passively Driven Parallel Manipulator: Development and Analysis
Chapter 36. An Open-Section Shell Designed for Customized Bending and Twisting to Ease Sitting and Rising in a Chair
Chapter 37. Study of Dynamic Behavior of Active Steering Railway Vehicles
Chapter 38. Design and Analysis of Spring-Based Rope Climbing Robot
Chapter 39. Generalized Method for Real-Time Object-Oriented Modeling and Simulation of Systems Applied to a Vehicle Wheel Suspension Mechanism
Chapter 40. Kinematic and Dynamic Analyses of Four Bar Clamping Mechanism Operating in Liquid Sodium
Chapter 41. Telepresence System with 3D Mouse and Path-Planning Functionality
Chapter 42. Defect-Free Analytical Synthesis of Four-Bar Linkage for Four Precision Positions Using Perimeter Algorithm
Chapter 43. Tuning Procedure for Correction of Systematic Errors in a Quad Configuration AGV
Chapter 44. Design of a Linkage-Based Backdrivable Underactuated Gripper
Chapter 45. Design of a Teleoperated Mobile Manipulator for Inspection of Cyclotron Vault
Chapter 46. Design and Development of an Efficient Onion Harvester for Indian Farms
Chapter 47. A Simplified Model for Contact Mechanics of Articular Cartilage and Mating Bones Using Bond Graph
Chapter 48. Modeling and Estimation of Closed-Loop Impact for Multi-arm Space Robot While Capturing a Tumbling Orbiting Object
Chapter 49. Non-dimensionalized Feasibility Maps for Designing Compliant Mechanisms
Chapter 50. Design Modification for Anti-choking Mechanism in Thresher Machine
Chapter 51. Development of an Automated System for Wire Wrapping and Spot Welding of PFBR Fuel Pin
Chapter 52. Experiences in Process Automation of Injection Casting Equipment Inside Glove Box
Chapter 53. Degenerated Degree of Freedom Sensing Without Loss of Accuracy While Estimating the Rigid Body Parameters for the Calibration of a Two-Axis Robotic Arm for Prototype Fast Breeder Reactor, Steam Generator Inspection System
Chapter 54. Quintic Interpolation Joint Trajectory for the Path Planning of a Serial Two-Axis Robotic Arm for PFBR Steam Generator Inspection
Chapter 55. On the Dynamic Response of Rigid Rotor Supported by Rolling-Element Bearing
Chapter 56. On High-Precision Large-Range Resonant-Amplified Scanning with Limited Range Actuation
Chapter 57. Dynamic Analysis and Design Optimization of Automobile Chassis Frame Using FEM
Chapter 58. Active Vibration Absorber for a Nonlinear System with Time-Delay Acceleration Feedback for Superharmonic and Subharmonic Resonance Conditions
Chapter 59. Optimal Damping Factor for the Least Squares Inverse Kinematics for the Steam Generator Inspection System
Chapter 60. A Partial Compliant Mechanism for Precise Remote-Center Motion
Chapter 61. Prototype Fast Breeder Reactor Steam Generator Inspection System for Tube Inspections
Chapter 62. Design and Fabrication of a Partially Statically Balanced Scissor Linkage Made of Bamboo Pieces
Chapter 63. Dynamic Analysis of Underwater Vehicle-Manipulator Systems
Chapter 64. Briquette Compacting Machine: A Design for Rural Applications
Chapter 65. Trajectory Tracking and Control of Car-Like Robots
Chapter 66. Kinematic Analysis of a Suspended Manipulator
Chapter 67. Development of Tool Delivery System for In-Service Inspection of Pressure Tubes of 220 MWe PHWRs
Chapter 68. Two-Point Grasp Response
Chapter 69. New Dynamic Model and Simulation of the Ballbot Using Reaction Wheels
Chapter 70. Master–Slave Teleoperation of Multi-DOF Cyton Robot with Input from PHANTOM Omni Using Visual Feedback
Chapter 71. Liquid Handling Robot for DNA Extraction
Chapter 72. Dynamic Modeling of Cooperative Planar Bionic Manipulator