Robotics Laboratory

ROBOTICS LAB

 

The Robotics lab of department of Mechanical Engineering, SRM Institute of Science and Technology (formerly known as SRM University) was established in the year 2007 to conduct M.Tech robotics programme and B.Tech Mechanical engineering programme. It makes the students to understand the basic principle of robotics with the help of Lego Mind storm kits and they explore the world of industrial robotics with the hands on experience using  ABB IRB 1410 6 axis Industrial robot, ABB IRB360 Flexi picker vision robot along with its simulation software namely robot studio V 6.0  and they are also able to design and program the mobile robots with our latest microcontroller trainer kit namely Raspberry pi , Beagle bone, Arudino uno, ARM processors and they also learn to integrate I/O with DAC and control the robot using Virtual Instrumentation hardware and software NI labview with different types of sensors like touch, proximity, light ,sound sensors, force, accelerometer gyroscope and load cell.                                                    

Robotics Lab Facility                                           

Industrial Robots Abb Irb1410 

 

IRB 1410 is a well-proven and cost-efficient six axis robot with a stroke and reach sufficient for most arc welding, pick and place, painting applications in industries, and currently most of the industries are moving to robotics technology where engineers are required to handle those robots. We teach the students to handle and program the robot using RAPID language in both offline and in simulation.


Industrial Robot ABB Flex picker IRB 360

ABB’s IRB 360 Flex Picker has been the leader in state-of-the-art high speed robotic picking and packing technology. It’s an parallel manipulator robot and has patent of world fastest pick and place robot using machine vision and its major application finds in food packaging Industries.


Virtual Instrumentation laboratory setup

To acquire extramural knowledge on the computer implementation and i/o hardware interfacing of Robotics system with the external world were achieved using National instruments Virtual Instrumentation kit using both hardware and software


Drives and control of robotics using various Microcontroller laboratory setup

The foundation education in electronic circuit analysis and design the system was made using various latest microcontroller namely raspberry pi, beagle bone, arm processor trainer kit , 8051 trainer kit , PID based servo motor control kit and all basic electronic components 


The consultancy work is carried out using robotics lab facility

Robot error analysis on mouse component using Rapid programming language for Sanmina India Ltd, Chennai, Period: Jan-June 2012

Ongoing research projects

Brain computer interface - P300 based robot wheel chair motion control

The project is aimed to provide a mind controlled wheel chair robot which works based on brain signal of the patient through a brain-computer interface developed. If patient thinks to move forward or backward the wheel chair, the wheel chair will move automatically to desired location by robotic wheel chair. Genetic algorithm is used to search for optimum features from different signal input. Artificial neural network is used to classify the input signal.

Friction stir welding analysis using ABB robot

The main objective of this project is to design, fabricate and analyze friction stir welding end effector for ABB IRB 1410 robot. The pneumatic gun which rotates at 11000 rpm at 10 bar pressure is used as end effector The pneumatic gun along with friction stir head is fitted with robotic arm is used to weld. The robot is used for movement and applied pressure which is required for friction welding. 

Exoskeleton based lower limb analysis for disabled person

The objective of the project is to design and fabricate an exoskeleton which is economical, less weight and more dexterity than existing exoskeletons. This exoskeleton is mainly used to provide support to the paralyzed or undergone knee operation.

Automated spray Nano painting robot using Taguchi and fuzzy logic analysis 

This project investigates the performance characteristics of an ABB –IRB 1410 industrial robot for an automated nanopainting process. The experiments are conducted through Taguchi orthogonal array and results were analysed using regression and ANOVA techniques. The painting is carried with manual mode, using robot with and without nano paint. The analysis is carried out which method is best for which situation.

Development of Vision based navigation for visually challenged

This work aims at providing assistance to the visually challenged individuals to help them to achieve collision free navigation in the indoor environment. The indoor environment is mapped with virtual reality methods and gives idea to visually challenged people about indoor environment, so that they can avoid obstacles.

Kinematic Motion error analysis of Vision based flexi picker robot 

This project is aimed to provide (non-contact) camera based position detection of the end effector using mono color isolation based image processing in real time environment. 

Dynamic Analysis of an Upper Extremity Exoskeleton for Torque Calculation in  Rehabilitation Robotics 

Designing an exoskeleton for the human arm requires knowledge about the joint torques due to gravity, residual forces and the torque required for arm movements. The objective of this project is to describe these characteristics and its relation with other controlling parameters that are required to run the exoskeleton. For finding out these parameters experiments were conducted by moving the arm to various positions in the sagittal plane and then measuring the force on the forearm. This force is then converted to torques at the elbow and shoulder and the tabulated values are presented in the project. The existing exoskeletons were bulky and heavy which made them limited to applications because of its complexity. This created the need for a   system which is economical, light weight and can provide more dexterity than the existing ones. Therapies in rehabilitation process do not require extremely complex designs. The proposed wearable exoskeleton builds upon our research experience in wire driven manipulators and design of rehabilitative systems. This cable drive system will help in reducing the overall weight of the exoskeleton and in a robust mode of control of the exoskeleton movements. This project describes the dynamic analysis of the exoskeleton and the experiment carried out on five subjects to determine the relation to the controlling parameters.

Analysis of Brain Computer Interface Based Robot Wheel Chair Control 

Eye blink and concentration are prominent in EEG signal which are recorded by placing electrodes in the frontal region of the brain. This project presents the development of a robotic wheelchair that can be controlled by the users by map the Eye double blink and concentration from EEG data. MATLAB based flexible graphical user interface with some possible choices such that letters or image are flashes in 3s of time period to the users for choosing their movement to travel. NeuroSky’s mind wave mobile ebio-sensor head set is a device with portable EEG sensors is used for reading the brain frequencies in real time. Ultrasonic sensor based obstacle avoiding system provide the safe navigation of the wheelchair and it speed up the control system by disabling unavailable directions. The system is provided with very high accuracy, an easy access of target and the graphical user interface is allow the users to choose commands to be sent to the robotic wheelchair for its actuation and which required only little mental effort to select the destination.

Development of Real-Time Haptic Sensing System for Brain Tumor 

The objective of the project is to develop a surgical device to detect hardness of brain tumor and to differentiate tumor cells from healthy. Various hardness measuring instruments are studied and appropriate mechanism of detecting brain tumor is found. Hence, we design a MEMS (Micro Electro Mechanical Systems) device and fabricate it to specification that can measure 0.3 – 360psi. This device should ensure safety for human tissues in safe contact.

Providing Tetrapegia Patient with Assistive Technology using Shared Control 

This project aims to provide controlled functional rehabilitation to paralyzed upper extremity patients. In this we use electroencephelogry to detect brain activity by placing electrodes on the scalp. The sensed signal is fed to the PC where artifacts are filtered by using bandpass filter and p3 signal is extracted by using various algorithms in MATLAB, which is used as control signal to fire the nerves by generating biphasic current impulse in functional electrical stimulator placed on the impaired limb. We take the input from feel sensor and is given to the orthosis using PID controller for the smooth motion of limb.

 


Journal papers published related to Robotics

1.      Balamurugan.S, Prabhu.S, “Performance characteristics analysis of automated robot spray painting using Taguchi method and Grey relational analysis”, Arabian Journal for Science and Engineering (AJSE), Vol.40, Issue 6, Pp.1657-1667, June 2015, Issn: 1319-8025, Springer Publication, Impact factor 0.367.

2.      Prabhu.S, Anusha.,Nimral Panda., “Analysis and optimization of Robot plasma coating efficiency using Taguchi and Regression analysis”, International Review of Applied Engineering Research (IRAER), Vol.3, No.1, Pp.67-79, 2013.ISSN :2248-9967.

3.      Prabhu.S, Anusha., Nimral Panda., “Robot path planning for plasma coating”, International journal of systems, Algorithm & applications, Vol.3, May2013, Pp.92-95.,ISSN online:2277-2677.

4.      Anusha.V.,Prabhu.S., “Robot path planning for plasma spray coating”, 2nd International conference on recent advances in Science and Engineering, ICRASE, April, 29-30, 2013, Pp-92-97,ISBN-9297-97881-923541-07.

5.      Anusha.V.,Prabhu.S.,Nirmal panda., “Feature  and form based robot programming using plasma coating”,Proceedings of National conference on emerging trends in engineering applications, 3rd April, 2013,HyderabadPp.9-12.

6.      Anusha.V.,Prabhu.S.,Nirmal panda., “Robot plasma coating of Alumina-Titania deposition using optimizing techniques” Proceedings of National conference on Advances in Mechanical engineering and renewable energy, 24th April,CBIT,Hyderabad.,Pp.192-196.

7.      Prabhu.S, Jinju Joseph, “Design and analysis of a Mobile Modular Fixture Robot using Image processing”, Vol.10, No.2, Pp.2241-2255, 2015, International journal of Applied Engineering Research (IJAER), Issn: 0973-4562, Scopus Indexed, SJR-0.127, SNIP-0.166.

8.      Prabhu.S, Uma.M, Priyan Prasad, “Analysis of Brain Computer Interface based Robot Wheel Chair control”, Vol.10, No.7, Pp.17171-17179, 2015, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

9.      BagayashreeDas,M.R.Stalin john, “Design and Control of Cartesian robot for machining applications”, Vol.10, No.68,2015, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

10.  Balaji T, Gowtham, R.Stalin john, “Simple unmanned aerial vehicle design, International journal of Technology and Engineering system,ISSN:0976-1345, Vol 5, No.2, 2013, pp-18-19.

11.  BagayashreeDas,M.R.Stalin john, “Machining a component using vision based 3 axis cartesianroobt”, Vol.10, No.7,2015, pp.18063-18077, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

12.  SherayankRejeurs, Oliver nesaraj, “Autonomous indoor Quadrotor”, Vol.10, No.6,2015, pp.15377-15387, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

13.  Manikandaprabhu, Ambigai, “Design and fabrication of four legged robot for fertilizer spraying”, Vol.10, No.9,2015, pp.22249-22263, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

14.  Balamagaganapathy, Ravi Krishnamurthy, “Design and fabrication of Delta robot with voice control”, Vol.10, No.7,2015, pp.18657-18668, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

15.  Noel David, Umasekar, “Design and fabrication control of a six legged robot for search and rescue”, Vol.10, No.7,2015, pp.18737-18749, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

16.  Naveenkumar, Naveen john ponnose, “Design and fabrication of Hand gesture wheel chair for disable person using MEMS”, Vol.10, No.7,2015, pp.22265-22274, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

17.  Arunkumar, V.Haridasan, “Development of an autonomous under water robot”, Vol.10, No.8, 2015, pp.21509-21517, International journal of Applied Engineering Research (IJAER), Scopus Indexed, SJR-0.127, SNIP-0.034.

18.  Kaarthick Babu.N.G.B. & Balamurugan.S, “Designing and Fabrication of Mini

Flexible Trunk Like Manipulator”, accepted in International Journal of Advancement in Research & Technology, paper ID AJ025716 – IJOART.

19.  S.Kalyanasundaram & Manoj Kumar.V,“Quadruped robot that that uses central

pattern generator to traverse terrains”, International Journal of Chemical and Pharmaceutical Sciences.

20.  Pratik Baid & Manoj Kumar.V, “A 3-DOF Serial Robotic Manipulator of RRP

Configuration for Drawing Application”, ISSN: 2229-5518, International Journal of Scientific and Engineering Research, paper accepted for publication with ID I080105.

21.  Pratik Baid & Manoj Kumar.V, “A RRP Configuration robot arm for Drawing

Application”, ISSN: 0974-2115, Journal of Chemical and Pharmaceutical Science, SCOPUS Indexed, paper accepted for publication.

22.  Anbarasan, E., & Vasanth Kumar, CH., (2016), TENDON-DRIVEN ANTHROPOMORPHIC DEXTEROUS END EFFECTOR FOR MEDICAL ASSESMENT TOOLS. Journal of chemical and pharmaceutical Science, Accepted for publication.

23.  Thushar. T, Dr. S. Prabhu, “Taguchi Optimization Analysis of IRB1410 ABB

Robot using Nano paint”, accepted in International Journal of Applied Engineering Research (IJAER), SCOPUS Indexed.

24.  Thushar. T, Dr. S. Prabhu, “Characteristic analysis of ABB IRB1410 Industrial

Robot spray painting using Nano paint”, accepted in International Journal of Science and Technology(IJST).

25.  Hemantta borgohain, N. Karthikeyan ‘Construction and working of Cartesian robot based on vision as input’, International journal of Science and Innovative engineering and technology (IJSIET). Paper code- ISBN 978-81-904760-8-9.

26.  M. Dinesh Kumar, R. Ambigai, “An In Pipe Adaptive Robot (IPAR) Using

Caterpillar Wall Pressed Type”, ISBN 978-1-4673-8023-5 (IEEE DIGITAL XPLORE),IEEE International Conference on Engineering and Technology (ICETECH), 17th& 18th March 2016, Coimbatore, TN, India.

27.  M Dinesh Kumar, R. Ambigai, “An in-pipe adaptive robot”, communicated to International Journal of Engineering Modelling and Simulation, INDERSCIENCE Publications, SCOPUS Indexed.

28.  T.S.C.L.Carlos, M. Uma, S. Prabhu, (2016) “Analysis Of P300 Detection With Different Configuration Electrodes Based On Offline Dataset” Journal of chemical and pharmaceutical science, Accepted for publication.

29.  Indrani Sanyal, A.Vijaya, ‘Design and Development of Basic Vision

Module of an Industrial ABB IRB1410 Robot’, Journal of Chemical

and Pharmaceutical Science (accepted).

30.  Srinath. G, V. P. Haridasan “Design and testing of two-wheeled self-balancing robot” International journal publication by IJST (Accepted)

31.  Ramanathan L and Senthilnathan R, (2016) ‘A Reactive Planning based Guidance for Visually Challenged using Depth Map,’ International Journal of Engineering and Technology, accepted for publication.

32.  Ramkumar Gandhinathan, R. Ambigai, “Modelling and fabrication of a new

Semi Autonomous Guiding Vehicle (SAGV) for window cleaning of Sky

scrapers”, communicated to International Journal of Engineering Modelling and Simulation, INDERSCIENCE Publications, SCOPUS Indexed.

33.  Rithin George Skaria, M.R.Stalin John and V.P.R.Sivakumar, “Design and Fabrication of Powered Wireless Control Lower Limb Exoskeleton for Rehabilitation Process”, Journal of Chemical and Pharmaceutical Sciences (JCPS), Accepted for publication


Expert Lectures Delivered

  • Dr.S.Prabhu, given guest lecture on the topic “Robotics” to Gojan School of Business and Technology, 21st July, 2012, Red hills, Chennai, Tamilnadu, India.
  • Dr.S.Prabhu, given guest lecture on the topic “Recent trends in Robotics” to ARM College of Engineering and technology, 3rd February 2014, maraimalainagar, Chennai, Tamilnadu, India.
  • Dr.S.Prabhu, given Guest Lecture given on the topic “Recent trends in Robotics and its Engineering applications” to Aaruush Technical Talk at SRM Institute of Science and Technology (formerly known as SRM University), on 15th July 2015, Chennai, Tamilnadu, India.
  • Mr.V.Manoj Kumar honored as chief guest for a technical event and given guest lecture on the topic “Future world depends on Robotics” to the Velammal international school Panchetti, Chennai, Tamilnadu, India.