2010-11 - Indian Institute of Technology Delhi

22 downloads 150 Views 157KB Size Report
SCORBASE. [C1,2,3,4,5]. C4 MCTN4 (P-1V) H4. Phantom omni. Haptic Device [ C5]. S4. MSC-ADAMS. [C2, 5]. C5 MCTN flexi (P-. 1V). H5. SCORBOT ER9. [C1].
Layout of Different Zones in Mechatronics Laboratory

Mechatronics Laboratory 6th Annual Report ( July 2010 to June 2011)

Lab. Responsibilities The following responsibilities are shared by the faculty incharge, technical staff, all students and project staff working in this lab: 1. Safety and First Aid aspects 2. Cleanliness and Beautification 3. Computer Hardware and Software maintenance 4. All robots operations and maintenance 5. XY Table and the Intelligent Conveyor System operation and maintenance 6. Tools classification and maintenance 7. Documentation classification 8. Lab. brochure and annual report 9. Tea corner

 Copyright, Mechatronics Laboratory, ME Dept., IIT Delhi, December, 2011

Block II, Room No. 420 Department of Mechanical Engineering IIT Delhi, Hauz Khas New Delhi 110 016 INDIA

9. Lab Seminar/Presentations

Preface Mechatronics Laboratory is proud to be in its 10th year of existence since its establishment in July 2001. We are very happy to bring this 6th Annual Report after a gap of 4 years. This year we had a series of events, like participating in the IITD’s Open House, I2 Tech held on April 23, 2011. Later, we organized a workshop on the “Basics of Robotics and Embedded Systems” mainly for the lab users.

    

On Hapttics, Mr. Majid Koul, Mar.’11 On Robot Design, Mr. Vinay Gupta, Aug.’11 “Open GL, Mr. Arun Dayal Udai, Nov.’10 “Object Oriented Programming and C#,” Mr. Rajeev Lochan, Nov.’10 On Recursive Dynamics, Mr. Amit Jain, May’11

10. Faculty Faculties from different departments/centers of the institute have used the lab facilities during the year in the form of supervising student projects or using for the practical classes of their courses. The participating Departments/Centers are:

Acknowledgements The lab acknowledges the continuous support of the Mechanical Engineering Department without which it could not have progressed so much over the years. We also acknowledge the contributions and support given by the faculty, staff, ex-Ph.D/M. Tech/M.S./B.Tech students, exproject staff, and the present students of the department who helped us to maintain the lab, software, hardware equipment, and other items.

   

Prof. I. N. Kar, EE Dept. Prof. Sumantra Dutta Roy, EE Dept. Prof. Sudipto Mukherjee, ME Dept. Prof. S.P. Singh, ME Dept.

For further information, please contact:

Mechatronics Lab Team Prof. S.K. Saha, Lab-In-Charge Department of Mechanical Engineering

Tel: (011) 2659 1135 Fax: (011) 2685 2053 Email: [email protected]

This report is prepared by Ms. Aishanou Osha Rait (JRF) and Mr. Sunil Bharamgoudar (JRF). Download from http://web.iitd.ac.in/~saha/mechatronics.htm.

(i)

Mr. Dharmender Jaitly, Technical Superintendent Department of Mechanical Engineering IIT Delhi, Hauz Khas, New Delhi - 110 016, INDIA Tel: (011) 2659 6320 Email: [email protected]

4

5. Sponsored Projects   

“Adaptive force control of Industrial Robot (KUKA KR6) equipped with Force/Torque sensor,” Funded by BRNS, Govt. of India. “Tele-Operation of an Industrial Robot,” Funded by BRNS, Govt. of India. “Evaluation and Standardization of Animal Driven Water Pump,” Office of the Principal Advisor to the Prime Minster, Govt. of India

6. Visitors There have been delegates from Germany, Japan, Canada, Australia, USA, and several Indian universities/ colleges/ IITs, and IISc Bangalore. 7. Achievements 7.1 Technology Developed:  Exoskeleton  RoboAnalyzer  MA3000



1. Introduction..….………………………..…………………… 1 2. Lab. Facilities..…..…………………………………………. 1 3. Academic courses..…….……………………………………. 2 4. Student projects…….……………………………………….. 2 5. Sponsored projects ………………………………..…………3 6. Visitors………………..…………………………………….. 3 7. Achievements……………....……………………………….. 3 8. Events……………………….………………………………. 3 9. Lab. seminars/presentations ………………………………... 3 10. Faculty……………………………...……………………… 4 Contact Address ……….……………………………………… 4

Practical Classes Total: 6 [3 UG + 3 PG]

8. Events



(i) (i) (ii) (ii)

Facilities Hardware: 10; Computers: 14; Software: 9

Journal Papers: 2 Conference Papers :11



Preface Acknowledgements Contents Lab at a Glance

Lab at a Glance during 2010-2011

7.2 Publications:



Contents

April 2011: Workshop on “Robotics and Embedded Systems”, at IIIT Jabalpur- D&M, by Mr. Arun Dayal Udai & Mr. Dharmender Jaitley. April 2011: Participated in the Institute Open House. Website: http://openhouse.iitd.ac.in May 2011: Workshop on “Elementary Robotics” at Kendriya Vidyalaya Jawaharlal Nehru University, by Prof. S.K.Saha & Mr. Arun Dayal Udai June 2011: Workshop on “Embedded Systems for Robotics”, at our lab by Mr. Arun Dayal Udai and Mr. Dharmender Jaitley.

3

Student Projects Completed Ph. D. 1 M. Tech.: 1 Interns: 7 Other Activities Best Project: 1; Journal Papers: 2; Conference Papers: 11 (ii)

1. Introduction

3. Academic Courses

One of our main objectives last year, other than to keep our hardware equipment and software ALWAYS in running condition, was to have indigenous development on real robot controller, robot teaching software and research on rural applications, which could only be realized with the combined effort from our Technical staff . The daily users of the lab have been taking responsibilities other than their academic/professional work, e.g., taking care of computer complaints, classifying the tools/product catalogues we have, and the company catalogues/brochures, etc. In order to assess our progress and discuss our difficulties, we meet for about half an hour on every Thursday, which is very effective.

The lab is being used for tutorials and practicals of the following courses:  MEN110: Introduction to the Department, UG (Mech. and P&I)  MEL416/MEL739: Robotics Engineering, UG/ Robotics, PG  MEL211: Kinematics and Dynamics of Machines, UG  MEl731: Design of Mechanisms and Manipulators, PG  MEL832: Multibody Systems and Vibration Design, PG

2. Lab. Facilities C1

Computers MCTN1 (P –IV)

H1

C2

MCTN2 (P-1V)

H2

C3

MCTN3 (P-1V)

H3

C4

MCTN4 (P-1V)

H4

C5

MCTN flexi (P1V) MCTN Sheep (P-IV) MCTNC1 (Core2Duo) MCTNC2 (Core2Duo) MCTNC3 (Core2Duo) MCTNC4 (Core2Duo) MCTNC5 (Core2Duo) Smarty1 (Core2Duo) 6 DOF (Core-i7) Camera(Core-i7)

H5

C6 C7 C8 C9 C10 C11 C12 C13 C14

H6 H7 H8 H9 H10

Hardware CNC XY Table [C3] Intelligent Conveyor [C6] µP Training Kits: 5 [C7,8,9,10,11] Phantom omni Haptic Device [C5] SCORBOT ER9 [C1] LEGO-MS: 6sets [C7,8,9,10,11] MA3000 [C13] Novint Falcon (2) [C13] Servo Training Kit [C6] MS-250 Mixed Signal Oscilloscope

S1 S2 S3 S4 S5 S6 S7

Software MATLAB 7.0 (2010) [C1, 2, 4-6] RIDIM [C1, 2, &5] SCORBASE [C1,2,3,4,5] MSC-ADAMS [C2, 5] RoboAnalyzer [C7,8,9,10-12] RecurDyn [C1-12]

S8

Autodesk Inventor [C7,11,12,13] LABVIEW [C7,13]

S9

VS 2008 [C7,12,13]

4. Student Projects Ph.D.  Suril V. Shah: “Modular Framework for Dynamic Modeling and

Analyses of Tree-Type Robotic Systems,” Submitted in May 2011. M. Tech  Amit Jain: "Development of a CAD-based Tool For The Study of

Robotics," May 2010 Interns  Shivesh Kumar, NIT Surathkal, ”Robot Modelling and Dynamics simulator,” May-July 2011  Sujit Kumar, BIT Mesra, “Force/Torque controller design for 4DOF Manipulator,” May-July 2011  Siddharth Jaitly, ITM Gurgaon, “Implementation of PID control using Microcontroller and NI-Labview” June-July 2011 Project Staff  Gaurav Aggarwal, JRF, “Tele-operation of an Industrial Robot,” May 2010-April 2011.  Kush Prasad, JRF, “Tele-operation of an Industrial Robot,” June  

1

2010-May 2011. Kanchana M, JRF, “Adaptive Force Control of an Industrial Robot”. Manish Chauhan, JRF, “Adaptive Force Control of an Industrial Robot”. 2