Browsing by Author "Dayawansa, B"

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Embargo
Development of an Eccentric Legged Quadruped Robot for a Predefined Uneven Terrain
(IEEE, 2022-06-01) Dayawansa, B; Vasudevan, P; Irfan, I; Liyanage, M
Bio-inspired robotics is a relatively new branch in the field of robotics. It involves the study of the anatomical, morphological and physical behavior of natural living animals and implementing such morphologies and mechanisms in an electro-mechanical system. The field of bio-inspired robotics has given birth to many complex mobile robot topologies which also include legged locomotion. Legged robots help the designers gain an insight into how the biomechanics of animals operate which also can help inspire new technologies in the field of prosthetics and artificial limbs. Legged robots have a higher terrain adaptability and mobility compared to wheeled robots which makes them a good choice for uneven terrain navigation. Legged locomotion itself has a wide scope with various topologies and morphologies involved. In this paper we have evaluated all existing quadruped robot models currently, and have proposed a distinctive quadruped model structure and morphology for uneven terrain locomotion. The robot model has been analyzed through computational modelling and simulation techniques for optimum leg morphologies and gait patterns. The results demonstrated that certain leg morphologies were more efficient compared to other considered leg morphologies. The robot was fabricated physically and tested for the same morphologies in an uneven terrain as well.
Open Access
Simulating the Effects of Active Aerodynamics on the Suspension System of a Formula Student Race Car
(Sri Lanka Institute of Information Technology, 2023-03-25) Epakande, C; Dayawansa, B; Liyanage, M
Active aerodynamics is a growing topic in the automotive industry. With technological advancements at play, it has begun to spread across multiple avenues such as road vehicle ride comfort and the development of active suspension systems. However, the application of active aerodynamics in Formula cars has not been a commonly discussed topic. Furthermore, the effects of active aerodynamics on the suspension system have not been assessed for Formula Student race cars. Therefore, this study looks to obtain an understanding about how actively changing the Angles of Attack of an aerodynamic front wing and a rear wing would affect the suspension system of a Formula Student race car. The study was done by first choosing a wing profile using the XFLR5 software, modelling the front and rear wings using SolidWorks, according to the parametric guidelines of the Formula Student Competition for different angles of attack, analysing coefficients of lift and drag of the wings for each angle of attack using Ansys Workbench, and by performing full-vehicle acceleration and cornering analyses on MSC Adams Car to find how changing these coefficients affects the suspension dampers along the direction normal to the ground the vehicle travels on. This research would help understand the many forces acting on the suspension and to explore further developments in this area such as active aerodynamics in Formula Student race cars in the future.