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Robotics
S.K. SAHANaren Gupta Chair Professor
Dept. of Mech. Eng., IIT Delhi
Jan. 31, 2020@VLFM
Learning Objectives
1. Application domains of various robots
2. Sub-system/components required to use/buy/develop a
robot for an industry
3. Robot kinematics for its control/programming (Important
to guide young engineers!)
Philosophy (in Indian Scenario)
• Overcome Unemployability: “The general quality of
India's engineering graduates is exactly where it was a
decade ago,…On top of a shocking series of
revelations is the finding that 80% of Indian
engineers are not fit for any job in the knowledge
economy.
[The Economic Times: Mar. 15, 2019]
• Impart True Education: “The education which does not
help the common mass of people to equip themselves
for the struggle for live, which does not bring out
strength of character, …--- is it worth …?”
[My India: The India Eternal by Swami Vivekananda]
Mechatronics Lab.@IIT Delhi
Estd. 20012014B
roch
ure
Annual Report
H-M
Introduction
PAR Lab.@IIT Delhi(12 Faculty + 20 Students)
5
Pro
gra
mm
e for
Auto
nom
ous R
obotics
(Sponsore
d b
y B
ARC/B
RN
S) V
isit u
s a
t http
://robotic
s.iitd
.ac.in
Center of Excellence on BIRD (Biologically Inspired Robots and Drones)
Qrio (Sony): 58cm; 7kgAsimo (Honda): 120cm; 52kg
Types of Robots: Humanoid
First Commercial Robot (1962)[Courtesy: http://www.robothalloffame.org/inductees/
03inductees/unimate.html]
By Unimation Inc., USA, founded in 1950 by Joseph F. Engelberger (Father of
Robotics) at General Motors plant
PUMA Robot
Indian RobotsRobMuse 5 (Robocon + BTP@IIT Delhi)
Defense/Social Robots
Industrial robots
Grey Orange
Butler
Mila
gro
w
A Hexapod, CAIR, Bengaluru
Autonomous Underwater Vehicle, CMERI, Durgapur
Syst
eman
tics
, B
enga
luru
Topics of Robotics
Kinematics (Pos., Vel., Accn. Analyses)
oForward or Direct (DH Parameters)
o Inverse
Dynamics (force vs. motion)
oForward or Direct
o Inverse
Control: Inverse Kin. & Dyn.
Simulation: Direct Kin. & Dyn.
Robotics Books &
RoboAnalyzer/MechAnalyzer
Software
Robocon (2019) to RoboMuse
Nov.’08-Mar’09
RoboMuse 5
RoboMuse 3, 3x, 3xT
RoboMuse 4
July’15’19
RoboMuse 2 (’09-’10)
Imp. Dates:
Proposal: Jan. 31, 2020
Event: June 14, 2020
To RuralInnovative R&D Approach
RuTAG
ClubRobotics
Club
Video
Hand-knotted Carpet
Industries: Bhadohi-Mirzapur (UP), and others
1. Furnace for Bangles 2. BDT 3. Treadle Pump
Rural Technology Action
Group (RuTAG)
4. Sheep shearing device
5. Ground water level measuring device 6. Bead making
Pub.
Ac. value Pub.
Since 2009 at
IIT Delhi
(7 IITs)
Ru
ral
Co
mp
en
diu
m
Other RuTAG Activities
RuTAG conference’2018
o RTDD-2018 Monograph
RuTAG Newsletter
RuTAG Club
Rural Innovative Technohunt
o A Technical Challenge to identify rural problems and
suggest solutions (Open to all IIT Delhi students, staff,
and faculty): Rs. 50K to develop prototype
Possible Academic Projects
Developing a sensor to count rotation
Mechanical design of gears in a handloom
Synthesizing of a mechanism for the gears in a handloom
Examples:
Real model
New Model Charkha by MTP (Suman Sahu)
RSR (Researcher's Social Responsibility)
o Design for other 90% (Cooper-Hewitt, Nat. Des. Museum, Smiths,
USA)
o 90% scientists/engineers work for 10% elites
Conclusions
RoCK-BEE as Innovative Teaching
MuDRA as an Innovative Research
As a result, an inclusive education is possible by “Engineering Minds with the Society”
Conclusions
Components of a software
How much should we know? RecurDyn
DeNOC-based modeling and simulation
RoboAnalyzer and ReDySim
MuDRA
Acknowledgements
24
