Research

I am pursuing PhD (part-time) at IIT Delhi under the supervision of Prof. Subir K. Saha (Mech Engg). My proposed research topic is related to Multibody Dynamic Analysis of Railway Vehicles.

Interests & Associations

I am interested to carry out research and work on projects that are related to CAD, Robotics, Mechanisms, Simulations, etc. I have been associated with the following research groups/persons:
1. Dr. Dibakar Sen, Dept. of Mechancial Engg., Indian Institute of Science (IISc), Bangalore, India (2004-05)
2. Prof. Subir K. Saha, Dept. of Mechanical Engg., Indian Institute of Technology (IIT) Delhi, New Delhi, India (2009-13, 2015-till date)
3. Programme for Autonomous Robotics (PAR) Lab and Mechatronics Lab, Indian Institute of Technology (IIT) Delhi, New Delhi, India (2009-13)
4. Thrust Area Group (TAG) “Design Optimization and Simulation” in Amrita School of Engineering (Amrita University Vidyapeetham), Bangalore, India (2015-till date)
5. Thrust Area Group (TAG) “Robotics” in Amrita School of Engineering (Amrita University Vidyapeetham), Bangalore, India (2015-till date)

Projects

Unified Framework for Geometric Modeling, Animation and Collision Detection of Serial Robots
Duration: 2009-2013
Type: M.S. (Research) Thesis [Supervisor: Prof. Subir K. Saha]
Venue: Dept. of Mechanical Engg., Indian Institute of Technology Delhi, New Delhi, India
Details:
In this thesis, an analytical method based on Dual Number Algebra is proposed to determine the Denavit-Hartenberg (DH) parameters, used to represent the architecture of a serial robot. The method has a compact and elegant representation and has been implemented to extract the DH parameters from CAD models of several industrial robots. The CAD file of each robot link is then modified using the information of DH parameters such that the visualization and animation of the robot motion become simpler. The feature has been implemented in a robotics learning software named RoboAnalyzer developed in-house. The unified framework of geometric modeling and animation was further extended to detect collision between the links of a robot using a novel analytical method to detect collision between cylinders, where cylinders are used as bounding volumes of robot links.Study of a Novel Constant Velocity Coupling Mechanism and its Potential Application in Deployable Space Antennas
Duration: 2005
Type: Summer Internship [Supervisor: Dr. Dibakar Sen]
Venue: Dept. of Mechanical Engg., Indian Institute of Science, Bangalore, India
Details:
A novel mechanism, that can be used to transmit power at constant velocity in shafts, which are inclined to each other and their axes being skew, was presented and its potential application in the deployment of Large Unfurlable (Deployable) Space Antenna was explored. Deployable Space Antennas are antennas in stowed configuration in launch vehicles and once in their orbit, they deploy to become larger structures. The action of deployment needs synchronized motion of its links. The property of the unity velocity ratio of the proposed novel mechanism was used in deployment techniques. Three new Unfurlable Space Antennas were explored using the novel mechanism.Kinematic Analysis Of A Novel Mechanism Used To Transmit Power In Shafts Inclined To Each Other
Duration: 2004
Type: Summer Internship [Supervisor: Dr. Dibakar Sen]
Venue: Dept. of Mechanical Engg., Indian Institute of Science, Bangalore, India
Details:
A novel mechanism was presented, that can be used to transmit power at constant velocity in shafts, which are inclined to each other and their axes being skew. The mechanism primarily consists of two circular shafts, two bearings and a bent rod. The shafts are drilled with a hole each on their circular faces at a certain offset from the respective axes. Bent rod having a bend angle equal to that between the intersecting shafts is inserted into these holes. The joint between shaft and ground (bearing) is of Revolute type and that between rod and each hole (shaft) is of Cylindrical type. In short it forms a Revolute-Cylindrical-Cylindrical-Revolute (R-C-C-R) mechanism. The rotation of one shaft constraints the rod to have relative rotation and translation with the holes, which in turn rotate the other shaft at the same angular velocity as that of the driving shaft.