Research

Project Models

aerospace projects

micro robot surgery

Continuously variable transmission system

fixture handling irregular object

Reconfigurable Gribber

under actuated finger

under actuated hand

robots manipulator

wind tunnel

tidel energy model 1

experimental setup hand wheel erganomics study

tidel energy

lab chip

hormonic system

Nano Powder making machine

 

rock force drilling

six legged robot

3 axis manipulator

robotics project

robotics

robotics and non linear dynamics

Centre for Robotics and Nonlinear Dynamics (CRND)

Centre Head: Dr. M.Thangavel Ph.D (IITB)

Members :

Mr.Vinny Daniel David
Mr. A.R. Venkataramanan
Mr. Sudarsan

Introduction

Robots play a major role in industrial automation, nuclear system maintenance, defense applications, under water exploration, space exploration, surgery, agriculture and in domestic activities. Our centre concentrates on the design and analysis of robots useful for some of the above applications.

Secondly, all the real world problems are nonlinear and hence, knowledge in nonlinear tools is needed for their design and analysis. To mention a few, to understand robot dynamics and control, instrument design, inter-atomic collision in nuclear reactors, textile machinery design, design and analysis of semiconductors, weather forecasting, to develop medical diaganostic backage and to study machinery/structural vibration knowledge in nonlinear dynamics is needed. Our research centre concentrates on the design and development of experiments and tools to investigate the nonlinear phenomena associated with real world problems.

Objectives

Sponsored Project (VSSC, Trivandrum)

Design, Kinematics & Dynamics of Robotic Manipulator

Major Accomplishments :

  1. Robot link lengths are determined optimally
  2. Robot arm joint design procedure established
  3. Three different end-effector designs evolved
  4. A new robot wrist end effector interface designed
  5. A Novel light weight deep drilling attachment evolved
  6. Two different designs for sample collection are realised
  7. Direct Kinematics, Inverse Kinematics are dynamic modelling completed

Students Projects

Ph.D. Projects

  1. Mr. A.R. Venkataramanan  - Human-Space Vehicle Interface Dynamics
  2. Mr. T. Vinny Daniel David – Mobile Manipulator Design
  3. Mr. J. Prakash – Intelligent Gripper Design
  4. Mr. R. Sasi Kumar – Human Enabling System
  5. Mr. A. Krishnaraju – Swarm Robots
  6. Mr.c. Thangavel- Aircraft Structures
  7. Mr. G. B. Subramaniam – Humanoid Robotics
  8. Mr. S. Natarajan – End Effector  for Space Application
  9. Mr. P. Marisami – Knee Prosthesis (CP)
  10. Mr.A. Srinivasan – Long Reach Manipulator
  11. Mr. N. Gopiraja – Cooperative Robots
  12. Mr.J.Vijay Anand - Micro Manipulator
  13. Mr.M.Murugan - Hyper redundant manipulator
  14. Mr.G.Sudharsan-compliant gripper for Minimally Invasive Surgery (c.p)
  15. Mr. S.Sathish Kumar-Hybrid Manipulator (c.p)

M.E Projects

2014-15

  1. Modelling and Analysis of Planetary Walk. - P. Kumar
  2. Design and Development of Planetary rollar screw. - M. Sethupathy
  3. Design and development of Flight simulator with adjustable high frequency capability – A.M.Prabulingam
  4. Design development and analysis of Micro-gyroscope – E.Venkateswaran
  5. Design and development of Planetary Lander – R.Vijay ananth
  6. Design and development of Micro-Robot to move inside Human Blood vessels – M.Nandha kumar
  7. Computer aide design of five seated aircraft – M.Premnath
  8. Design and development of Lower limb Exoskeleton – R. Dinesh
  9. Modeling and analysis of Robonaut hand operation – S.Sankar
  10. Optimum design of Aerofoil using genetic algorithm- S.Karthi
  11. Nonlinear vibration analysis of High speed Train – A.Sridhar
  12. Design and development of Upper limb Exoskeleton- Prasanna
  13. Mechanical Design of Tidal energy harnessing Device- Sudharsan

2013- 14

  1. Design and experimentation of micro robot for minimally invasive surgery. (Patentable) – Mr. Ashok
  2. Design of fixtures to handle irregular objects. (Patentable)  – Mr. Bharath
  3. Design and development of reconfigurable grippers. (Patentable) - Mr. Sathish
  4. Design of linkage based knee prosthesis with self –locking capability. (Patentable) – Mr. Manojkumar
  5. Computer aided design of automotive transmission system. - Mr. Mohanram

2012- 13

  1. Mr.Balaji (Design and development of Micro pump for space application)
  2. M.Ilaya Perumal (Design and development of micro switch with Auto closing Capability)

2011- 12

  1. G. Sudharson (Design and analysis of Compliant Micro gripper)
  2. S. Loganathan (Inverse Kinematics of Robotic Manipulator using Genetic Algorithm)
  3. A. Deiva Ganesh (Design and development of Micro robot for Minimally Invasive Surgery)

2010- 11

  1. S.Prathap Raj (Design of Heavy Duty Gripper).

B.E Projects

2014-15

  1. Design and development of drone like aircraft mini-aerial vehicle (Gul using mini-aerial vehicle) – G.Vignesh, G.Rajakarthick, K.Santhosh kumar.
  2. Geometric design and kinematic analysis of mobile manipulator – Suman Regmi, M.Vignesh
  3. Design and development of wheel chair for stroke affected patients – C.K.Sathyanathan, M.Ranjithkumar, S.Senthilkumar
  4. Design and development of lower mobility parallel mechanism for metal cutting operation – K.Sathivel, M.Sathishkumar
  5.  Design and fabrication of restroom facility for arthritis patients – G.S.Naveen kumar, P.Manoj prabhu, V.Arul, R.Arun kumar
  6. Design and development of power tools for agricultural applications – D.Dhinesh kumar, P.Dineshkannan, J.Jagadeesan
  7. Design of Re-configurable robots for Space Exploration – V.Vinothkumaran, K.tamilarasan
  8. Design and development of handling device for borewell rescue operation – S.Giriraj, S.Bharath, G.Gopal
  9. Design and fabrication of wheel chair with step climbing capability – S.Krishnaraj, R.Kirubakaran, M.Mohamed Imran
  10. Design and development of battery operated car using stability analysis – A.Abdul Faiyas, E.Jawahar, T.Jayakumar, G.Dinesh
  11. Mechanical design of Humanoid Robot – Abhishek Pandey, Sikram Baidhwar chhetri

2013-14

  1. Design and development of battle tank. (Mr.Thamarai selvan, Mr.Venkatesan)
  2. Missile trajectory simulation between two specified destination using dynamic programming. (Mr. Sushil kumar)
  3. Design and development of Lab on chip (LOC) for Bio-medical application. (Mr.Perumal, Mr.Pradeep)
  4. Aerodynamic Design of short take off and landing Aircraft. (Patentable)
  5. Design and development of micro Aerial vehicle.(Mr. Anuj Regni)
  6. Design and fabrication of mobile manipulator. (Patentable)
  7. Design and fabrication of Light weight 5-Axis robotic manipulator. (Patentable). (Mr. Lingan)
  8. Design and development of automotive steering mechanism. (Mr. Thiru venkata karthick)
  9. Design and development of versatile ocean energy harnessing device. (Patentaable). (Mr. Rajesh, Mr. Venkateswaran)
  10. Design and development of toggle-mechanism based ocean energy harnessing device. (Patentable). (Mr.Sathya Nrayanan, Mr. Sachidanandan)
  11. Design and development of high intensity wave harnessing device. (Patentable)

2012-13

  1. G.M.Siddarthan, P.Shanbagavelu, M.Vibin, J.Sivakumar  (Design and development of exoskeleton for defence application)
  2. M.Arun, M.Guruprasad,Keerthivasan Arthanari, S.Arulmurugan (Design and development of Harmonic Drive Based Electric Car)
  3. V.Aswin Rajan, K.deva Sena, J.Jayanthera Babu, P.Balaji (Design and development of Short Takeoff and Landing Aircraft (STOL))
  4. Saran M.C, Nagandra Kumar Patel, Rahul Surendran (Design and development of Reusable Launch Vehicle)
  5. S.Saravana Kumar, V.Tamilvendhan, P.Venkatesh, G.sribalasundar (Design of Material Handling equipment for heavy work industries)
  6. V.Sabareshan, V.Sangeeth Kumar, S.Saranraj, S.Sathishkumar (Computer Aided Design of CNC Lathe)
  7. Design of Packing automation system for Fertilizer Industry
  8. BHEL- Trichy sponsored Project

2011-12

  1. P. A. Kesavan (Design and Development of Nano Powder making Machine).
  2. P. Prabhu , N. Pavan Kumar, T. Manoj Kumar, K. Muniappan (Design of Engine head Assembly Automation).
  3. R.Pothi Raj, S. Nishanth, C. Muthuvel, S. Prasanth[Dynamic analysis of smart wing of an aircraft].
  4. V. Gokulnath , N. Balasubrami, K. Dhanabal, Akyl. R. Ambaddy(Design and Analysis of Micro accelerometer).
  5. S. Karthick, C.V. Hariharan(Design and development of test rig for footwear performance evaluation).
  6. N. Balaji , M. Karthick, K. Bhaskaran(Design of Ball bearing assembly automation).
  7. M. Arichandran, S. Hariharan, S. Balakrishnan, R. Ananthan( Design and development of 5- Axis CNC Machine).
  8. I. Abishek, R. Anandh, V. Jagannathan(Design and Analysis of Hyper Redundant Binary Robotic Manipulator).

2010-11

  1. Ravi prakash.R, Raghavan.S, Rubesh raja.V, Shankar manikam (Swarm Robots for Security Application).
  2. Manikandan. D, Aravinth.M, Gopalakrishnan. M, Gontham Raj. K.R.S (Design of Spacecraft Simulator).
  3. Riyas Aboobacker Pokakillath, Venkata balaji. J, sudharsan. R, Nikhil Rajeev Kolly [Design of Reconfigurable Flying Machine (VTOL to STOL)].
  4. S. karthick, C.V. Hari Haran, N. Gobinath (An Investigation on the Realization of Engineering Systems (spaceship) to work in Theory of Relativity regime).
  5. K. Dhanabal, Akhil A. Ambady, Bala Subramani (Design of Packaging for MEMS).
  6. V.Gokulnath, D. Arunkumar, N. Balaji (Design and Analysis of Micro Switches).
Research/Project works done upto 2010
  1. Quasi-static stability of legged robots.
  2. Modeling and Analysis of two legged bouncing model.
  3. Modeling and Analysis of one legged hopping robot.
  4. Conceptual Design and Analysis of Adaptively Varying leg attachment.
  5. Dynamic Analysis of push-pull mechanism for Nuclear Power Corporation, Bombay.
  6. Development of Non linear models for Gear train analysis, and governors.
  7. Design and Fabrication of Six Legged Robot.
  8. Dynamic Analysis of Shuttle motion in looms.
  9. Design and Fabrication of Prosthetic knee.
  10. Path Planning Algorithm for Autonomous Wheeled Robot.
  11. Design and analysis of wheeled-leg robot.
  12. Design and analysis of gripper actuation mechanisms.
  13. Contact force analysis of deformable finger
  14. Design of experimental platform to simulate spacecraft dynamics.
  15. Design and Fabrication of SCARA Robot.
  16. Design and Control of BIOMIMETIC Robot.
  17. Design and Fabrication of Flexible Robotic Manipulator.
  18. Design and Control of SDF Robot Arm with Flexible Joint.
  19. Detailed Design and Fabrication of adaptively varying leg attachment.
  20. Conceptual design of Palm tree claiming machine.
  21. Conceptual design of Areca nut cover peeling machine.
  22. Design and analysis of micro motion device.
  23. Conceptual Design of Six bar linkage based adaptive fuel level indicator
  24. Design and Control of Solar powered wheeled - leg robot
  25. Design and Control of Autonomous Robot
  26. Dynamics and control of single degree of freedom robotic arm with flexible joint.
  27. Design of robotic test-rig for the determination of rock drilling force.
  28. Design, fabrication and control of six-legged walking robot.
  29. Kinematic analysis of 5 axis manipulator with indexing type end-effector.
  30. Development of Swarm robots for defense application.
  31. Design and development of flexible long reach robotic manipulator.
  32. Design and Fabrication of Automatic Feeding Mechanism.

Patent

Patent Registered :

  1. Mechanism for automating screw type motion.  (Mr. V.Sangeethkumar)

Patent Application Under Preparation

  1. Mechanism with constant transmission angle. (Mr.V.Sangeethkumar)
  2. Design and development of flight simulator with adjustable high frequency capability. (Mr. A.M.Prabulingam)
  3. Knee joint for prosthetic application. (Mr. Manojkumar)
  4. Wave energy harnessing device (3) (Mr.Vinny Daniel David)
  5. Mobile manipulator. (Mr. Vinny Danial David)
  6. Modified harmonic drive. (Mr. Tamarai selvan)
  7. Multi-fingered under actuated hand. (Mr. S.Natrajan)
  8. Multi functional endeffector. (Mr. Thiru venkata karthick)
  9. Variable diameter pulley for automotive application. (Mr. Mohan Ram)
  10. Manually operated light weight tree-climbing machine. (Mr. Sasikumar)
  11. Robot-endeffector interface with lateral and torsional compliance. (Mr. Vinny Danial David)

Publication

  1. M.Thangavel, C.Thangavel, “A Nonlinear Model to Study Selectively Deformable Wing of an Aircraft” Proceedings of International conference on Mechatronics, Robotics, and Manufacturing (ICMRM)-2011.
  2. M. Thangavel, T.Vinny Daniel David,  “Mechanical design of Omni-directional robot suitable for swarm based application” Proceedings of International conference on Mechatronics, Robotics, and Manufacturing (ICMRM)-2011.
  3. M. Thangavel, A. Deiva Ganesh, “Micro Robots for Minimally Invasive Surgery – A Review” Proceedings of International conference on Mechatronics, Robotics, and Manufacturing (ICMRM)-2011.
  4. T.Vinny Daniel David, M.Thangavel, “Mechanical Design of Wheeled-leg Robot with in-built compliance” communicated to the International Journal of Advanced Robotic Systems: Biomimetics-2012.
  5. M.Thangavel and A.R.Venkataramanan, "A Simple Model to Study Space Walk"
  6. M. Thangavel, T. Vinny Daniel David, K. Satheesh Raj, "Design of an overload protection device suitable for Space vehicles"
  7. M. Thangavel and S. Natarajan, "Configuration Design of an End Effector Suitable for Space Application"
  8. M. Thangavel and J. Prakash "Under-actuated fingers with force amplification for low cost versatile hand"
  9. M. Thangavel, "Some Studies on the Design and Development of Reconfigurable Flying Machine"
  10. M.Thangavel and R.Sasikumar, "An Experimental Platform to Study Drive System Ergonomics of a Human Enabling System"
  11. M. Thangavel and T. Vinny Daniel David, "Design and development of an Omni-directional robot suitable for swarm based application"
  12. M.Thangavel and K.Kurien Issac, “Special Poincare Sections for the Determination of Periodic Motions of Running Animals and Robots”, Communicated to Journal of Bio Mechanics.
  13. M.Thangavel and K.Kurien Issac, “Adaptive Variation Laws for Leg Spring Stiffness Variation in Legged Running Robots and Animals”, Communicated to Journal of Bio Mechanics.
  14. M.Thangavel and K.Kurien Issac, “Determination of Periodic Motions of a Structurally Variant System”, Communicated to Int.J. Nonlinear Dynamics.
  15. Thangavel.M, Prakash.J, “Contact force analysis of deformable finger”, International journal of computational vision and robotics, Inderscience publishers,UK.
  16. Thangavel.M, Vinny Daniel David.T, “Leg design for Wheeled-Leg Robot”, (Accepted for publication in International Journal of computational vision and robotics, Inderscience publishers, UK.).
  17. Thangavel.M, Vinny Daniel David.T, “Leg design for Wheeled-Leg Robot”, Proceedings of ICCVR 2010, Aug.21-22, pp 149-159, Inter science Group of Institutions, Bhubaneshwar, India.
  18. Vinny Daniel David.T, Thangavel.M, “Mechanical Design of Wheeled-Leg Robot”, Proceedings of International Conference on Innovative Research in Engineering and Technology, ICIRT2010, 12-14 Aug 2010, Coimbatore, India, ISBN-978-1-4507-3097-6.
  19. Thangavel.M, Prakash.J, “Contact force analysis of deformable finger”, Proceedings of ICCVR 2010, Aug 21-22, pp 162-173, Inter science Group of Institutions, Bhubaneshwar, India.
  20. Prakash.J, Thangavel.M, “Design and analysis of actuation mechanisms for three fingered gripper”, Proceedings of International Conference on Innovative Research in Engineering and Technology, ICIRT2010, 12-14 Aug 2010, Coimbatore, India, ISBN-978-1-4507-3097-6.
  21. Thangavel.M, Ravi prakash.R, Raghavan.S, Rubesh raja.V, Shankar manikam , Vinny Daniel David.T “Design And Development Of Swarm Robot For Security Application” , Accepted for presentation in International Conference on Mechanical and Aerospace engineering ICAME2011, New Delhi.
  22. Thangavel.M, Manikandan. D, Aravinth.M, Gopalakrishnan. M, Gontham Raj. K.R.S  “Design of  experimental platform to simulate spacecraft dynamics ” International Conference on Mechanical and Aerospace engineering ICAME2011, New Delhi.
  23. Thangavel.M, Riyas Aboobacker Pokakillath, Venkata balaji. J, sudharsan. R, Nikhil Rajeev Kolly “ An Approach for Geometrical Design of Reconfigurable Flying Machine” International Conference on Mechanical and Aerospace engineering ICAME2011, New Delhi.
  24. P.Marisami, Dr.M.Thangavel, "Design and Control of Inverted Pendulum", International Conference on Advanced Design and Manufacturing ICADM - 2007.
  25. K.Venkatesh, Dr.M.Thangavel, Er.P.Elango, "Brake Hose Assembly Parametric Modeling and Analysis", International Conference on Advanced Design and Manufacturing ICADM - 2007.
  26. S.Natarajan, Dr.M.Thangavel, "Design and Control of Programmable Planar Five - Bar Mechanism", International Conference on Advanced Design and Manufacturing ICADM - 2007.
  27. A.Jayaprakash, Dr.M.Thangavel, Mr.Sathish Rajagopal, "Ergonomic Design of Monitor and Keyboard Tray Mechanism Applicable for Clearnroom Environment", International Conference on Advanced Design and Manufacturing ICADM - 2007.
  28. T.Yuvaraj, Dr.M.Thangavel, P.Senthilkumar, "Design of Ten Wheel Bolt Press Tool Attachment for Six Wheel Bolt Press Machine" , Proceeding of the National Conference on Emerging Trends in Civil and Mechanical Engineering (ETCM-07), April 2007.
  29. S.Diwakar, S.Raghunathan, M.Thangavel, B.Gopi, "Speed Control of Eccentric Mass Loads", Proceeding of the National Conference on EXtreme Engineering and Technological Advancements, XETA - 2K7, April 2007.
  30. S.A.Kumar, Dr.M.Thangavel, "Design and Analysis of Nano Actuators - A review" Proceedings of the National Conference, May 2004.
  31. M.Senthilkumar, Dr.M.Thangavel, "Design and Control of Flexible Robotic Manipulator - A review" Proceedings of the National Conference, May 2004.
  32. M.Thangavel, “Evolution of Robotics” KSR Tech Journal published in May 2001 by K.S.R College of Tech., Tiruchengode, Tamilnadu
Academic recognition
  1. Reviewer Non linear Dynamics journal  (2013 onwards)
  2. Member syllabus comittee, Anna University Chennai (2012 onwards)
  3. Member Board of studies, Department of mechanical engineering, Sona college of technology (2010 onwards)
  4. Best presentation award for the paper presented in International conference on Mechatronics, Robotics, and Manufacturing (ICMRM)-2011.
  5. Best content award for the paper presented in International conference on Mechatronics, Robotics, and Manufacturing (ICMRM)-2011.
  6. Department Role model award for the year 2011-12.

A word of motivation...

"If your state is not interested in your technology then work for the country
If your country is not interested in your technology then work for the world
If the world is also not interested in your technology then work for your own satisfcation
Because, there is a thrill in pursuing science and technology"    - Dr.M.Thangavel.

Contact:

Dr.M.Thangavel,
Dean (Research),
Dept. of Mechanical Engineering,
Sona College of Technology, Salem.
Ph. : 0427 - 4099704.
Email : drmthangavel@gmail.com