Journal of Mechatronics and Automation (JoMA)
May - August 2014
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Prof. Bankim Chandra Ray
Chairman, National Institute of Technology Puducherry, India. Former Director, Indira Gandhi Centre for Atomic Research, India.
Professor and Head, Department of Metallurgical and Materials Engineering National Institute of Technology, Rourkela, India.
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Dr. Pankaj Poddar
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Dr. Rakesh Kumar
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Prof. Sundara Ramaprabhu
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Editorial Board
Dibakar Bandopadhya Assistant Professor, Indian Institute of Technology Guahati, India.
Nirmal Baran Hui Associate Professor ,Department of Mechanical Engineering National Institute of Technology Durgapur, India.
Rajeev Jain Head of Department Mechanical Engineering Kalaniketan Polytechnic College Jabalpur Madhya Pradesh India, India.
Raman Bedi Associate Professor Department of Mechanical Engineering, National Institute of Technology, Jalandhar, India.
Satyabodh M Kulkarni Professor ,Mechanical Engineering, National Institute of Technology Karnataka Surathkal, India.
Director's Desk
STM JOURNALS
I take the privilege to present the print version for the [Volume 1 Issue (2)] of Journal of Mechatronics and Automation. The intension of JoMA is to create an atmosphere that stimulates creativeness, research and growth in the area of in Mechatronics and Automation. The development and growth of the mankind is the consequence of brilliant Research done by eminent Scientists and Engineers in every field. JoMA provides an outlet for Research findings and reviews in areas of Mechatronics and Automation found to be relevant for National and International recent developments & research initiative. The aim and scope of the Journal is to provide an academic medium and an important reference for the advancement and dissemination of Research results that support high level learning, teaching and research in the domain of Mechatronics and Automation. Finally, and Authors for their continued support and invaluable contributions and suggestions in the form of authoring I express my sincere gratitude and thanks to our Editorial/ Reviewer board write ups/ reviewing and providing constructive comments for the advancement of the journals. With regards to their due continuous support and co-operation, we have been able to publish quality Research/Reviews findings for our customers base. I hope you will enjoy reading this issue and we welcome your feedback on any aspect of the Journal.
Dr. Archana Mehrotra Director STM Journals
Journal of Mechatronics and Automation
Contents
1. Design and Development of an Under-actuated Mechanism for Grasping and Grabbing of Objects R. Jain, V. Chouhan, D. Bandopadhya
1
2. Energy Harvesting Through Liquid Flow in Pipe Lines R. Rajesh, Dr. B. Nagaraj
11
Journal of Mechatronics and Automation Volume 1, Issue 2 www.stmjournals.com
Design and Development of an Under-actuated Mechanism for Grasping and Grabbing of Objects R. Jain, V. Chouhan, D. Bandopadhya* Department of Mechanical Engineering, Indian Institute of Technology Guwahati, Guwahati, Assam, India Abstract An under-actuated mechanism is designed and developed for robotic hand application suitable for handling both regular and irregular shaped objects. The hand consists of three fingers and use two actuators to control 6 degree-of-freedoms (DOFs) and proves to be versatile for material handling in small to large scale application. A rotary actuator is used and grasping of object is done by actuating three fingers on a sliding base. In addition, a linear actuator is used simultaneously to complete grabbing of the object. ‘SoildWorks’ software has been used and a solid model of the hand is developed with illustration of the grasping and grabbing operation of the mechanism. Mathematical relationships of the linkages have been established that describes the actuation mechanism including several design parameters. Acrylic polymer sheets are used and various parts of the hand are manufactured using Laser cutting technique and finally the robotic hand was assembled. The robotic hand has been tested and is shown to grab both cylindrical and spherical objects. The novelty of the mechanism is that it reduces the number of actuator and in turns makes it cost-effective and also reduces the weight of the end-effector.
Keywords: Under actuation, Grasping, Mechanism, Sliding base, Paired Gear
JoMA (2014)© STM Journals 2014. All Rights Reserved
Journal of Mechatronics and Automation Volume 1, Issue 2 www.stmjournals.com
Energy Harvesting Through Liquid Flow in Pipe Lines R. Rajesh1*, Dr. B. Nagaraj2 1
Mechatronics Engineering, Karpagam College of Engineering, India Electronics and Telecommunication Engineering, Karpagam College of Engineering, India
2
Abstract The paper shows the easiest method to harvest the electrical energy from water flow through pipelines used in household purposes, municipality pipelines and process industries etc. Flow streaming in the pipelines contains the potential energy which will be converted into electrical energy by using simple energy harvesting procedures. This harvesting method can produce small amount of electrical energy which can be stored or used for low power output requirement electronic devices and components. The low power energy harvesting methods used in this paper involves by using an impeller, electrical motor and signal conditioning circuit. The flowing water is used to turn small impeller placed in the pipeline which will be connected with electrical motor. The tape drive electrical motor will act as a generator and produce small amount of power output and it will be conditioned and monitored by boost converter and PIC Microcontroller. In future, detailed study and development of this energy harvesting method in pipeline can answer questions of measuring the flow in the pipeline and level of storage tank indirectly.
Keywords: Energy harvesting, Electrical energy, Potential energy, Battery storage.
JoMA (2014)Š STM Journals 2014. All Rights Reserved