Found out about the amazing Hawk Signals springing up across the US and wrote my first #PLC Program to simulate the same. Added another skill in my arsenal for solving the challenges in the #robotics industry.

Learned extensively about the hardware and software aspects of implementing Programmable Logic Controllers for #IndustrialAutomation applications using #AllenBradleyPLC. It was a unique challenge to implement seemingly easy logic for a #python or #C++ program by means of NO/NC Contacts and Timers.

• An 11 DOF Quadruped with 2 DOF legs and 3 DOF active spine capable of climbing trees. Developed as a part of my bachelor thesis at IIT Indore. (Bachelor Thesis PDF)

• The 3 DOF Active Spine allows it to reorient its upper and lower torso relative to each other that enables the robot to climb trees from ground up, transfer from trunk to branch and vice versa.

• I have demonstrated the effect of active spine in locomotion in improving stability of the robot.

Utilizing the property of NiTiNOL Shape Memory Alloys to regain its memorized shape forcefully during phase change upon joule heating, we developed compact, noiseless, easily controllable suction grippers. 

It can be further used in variety of applications like as a suction grippers for Wall Climbing Hexapod.

This research was presented as a poster during iNaCoMM 2017 conference and published in the RoSMa 2018 conference.

• Performed Simple Centroidal Dynamics and Full-Body Kinematics Based Trajectory Optimization for Digit Bipedal Humanoid Robot

• Successfully implemented Walking and Jumping Motion under defined constraints

• Implemented Constraints for Ball Throwing Motion for which the Algorithm Fails to Solve.

Working as an undergraduate researcher in the Center for Robotics & Control, I worked on an indigenous Ostraciiform inspired robotic fish.

I Performed CFD-MBD co-simulations to estimate the thrust generated by oscillating fin propulsion scheme, the results of which were used to develop a robust control scheme articulated in the publication published on IFAC PapersOnline.

Further, I developed a virtual test rig interfacing MSC ADAMS with MATLAB & Simulink, for high fidelity simulations to analyze and optimize the control scheme.

I spearheaded the overall design optimization efforts as the Design & Analysis head of the team Engines and Demons, IIT Indore for BAJA SAEINDIA 2019 season.

My contributions included:

• Design of an ergonomic yet lightweight roll cage- maximizing the safety of the occupant in the event of the impact through clever placement of the members. 

• Performing FEA simulations for crash-worthiness.

• Optimizing the design of wheel hub, steering knuckle through iterative design and FEA analysis and achieved 57% weight reduction. I have documented some of my work as blogs on my portfolio website.

• Reverse engineered the tripod CV axle to integrate it within the rear hub.

• Performed Design Failure Mode and Effect Analysis (DFMEA) and devised a Design Validation Plan (DVP)

• Prepared Design & CAE Report for the team to achieve its best, All India Rank 8th, in the Design Evaluation.

• I also contributed to fabrication of the All Terrain Vehicle, including developing jigs and fixtures for rollcage fabrication, operating drills, lathe, grinders, for fabrication of rollcage members. And assembly of the All Terrain Vehicle.

Participating in DRDO's DRUSE (DRDO Robotics and Unmanned Systems Exposition) Competition, for the theme of surveillance in multistory buildings, we proposed a spherical robot solution with in-built jumping mechanism that can climb stairs and perform surveillance in multi-story buildings.

In addition to concept generation, I performed multibody dynamic simulations of jumping and locomotion mechanism.

As a part of Principles of Product Design course project, designed a Syrup Dispenser for elderly people using Archimedes Screw, for spill free dispensing of Medical Syrup.

Followed all Product Development and QFD principles in the development

• Prototyped a Universal Planter machine based on Whitworth quick return mechanism for zero-till farming.

• This dibbler-based machine is cost-effective, capable of sowing seeds as well as planting saplings

• For the Kinematics and Dynamics of Machines Lab Project, in a group of 3, we developed this Scissor's mechanism based retractrable car roof top mechanism. 

• We iteratively designed this eight-bar mechanism through geometric analysis, simulated the mechanism in ADAMS View and created a miniature prototype out of 3D-printed linkages.

A 1-D Ball Balancing Platform was developed for the course project of Instrumentation & Control.

We developed a simple low cost arduino-based ball balancing platform that took the distance input from the ultrasonic sensor and used a PID control to balance the ball on the strip.

As a part of Microrobotics course project, i studied micro-ornithopter robots and detailed the advancements and recent trends in micro-ornithopters.