Research Papers - Department of Mechanical Engineering

Permanent URI for this collectionhttps://rda.sliit.lk/handle/123456789/604

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Start date: 2020Subject: search.filters.subject.Development

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    PublicationOpen Access
    Development of an underwater robotic arm using multibody dynamics approach
    (2022-02-05) Fernando, S; Perera, M
    Underwater robotic arms are important devices that enables workers to carry out tasks remotely from a safe distance reducing or eliminating the risks that are involved with the task. The primary objective of the robotic manipulator is to perform maintenance and cleaning activities of the hull of a ship. However, the control of these devices underwater is quite complicated due to the numerous factors that make these systems unstable and non-linear. The aim of this study is to develop a multibody dynamic robotic manipulator model, integrated with a control strategy to optimize and obtain stable kinematics solutions. The hydrodynamic forces are integrated to the manipulator model considering buoyancy forces and surface drag forces. A basic algorithm is used to generate the joint angles using 7 geometrical parameters. The control of the manipulator was done to simply follow any path that represents the given coordinates. The P, I and D parameters are tuned individually to optimize the kinematic solution of the manipulator. 3-DOF articulated manipulator is the commonly used manipulator configuration. However, a 6-DOF manipulator configuration was selected in this study to allow for change in orientation using wrist motions.
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    PublicationEmbargo
    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.