Browsing by Author "do Rosario Carvalho, A.D."

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Automated industrial robot arm for three-dimensional measurement and reverse engineering
(Transstellar Journal Publications and Research Consultancy Private Limited (TJPRC) editor@tjprc.org, 2020) do Rosario Carvalho, A.D.; Vijaya, A.
The general purpose Industrial robots, such as the ABB IRB1410 have been used for pick and place welding, painting, assembly and drilling operations etc. The applications of robots in the dimensional inspection is uncommon. Though reverse engineering and 3D part generation can be done though existent laser scanner and Articulated Arm CMMs seems to very expensive and human-centric. This necessitates a low cost, non-contact, automated measurement system. An idea is mooted for using an industrial robot as a coordinate measuring machine (CMM), just by interfacing its coordinates to a computer as oppose to its routine of positioning its end effector to already taught points. In this work, an industrial robot arm, alongside a LASER triangulation sensor is used to probe three-dimensional work objects automatically within the area and create a point cloud data for the same. The measurement of objects is determined using coordinates of robot’s end effectors and fitting respective mathematical entities to it. The applications of such a system are endless; it could be used for inspection and reverse engineering. The point cloud is processed and filtered to give the best fit surface which matches the actual workpiece. The surface generated was compared with a CMM data, and it showed a very small deviation of 2 ?m, thus indicating the efficiency of the system. © TJPRC Pvt. Ltd.
Design and characterization of a pneumatic muscle actuator with novel end-fittings for medical assistive applications
(Elsevier B.V., 2021) do Rosario Carvalho, A.D.; Karanth P, N.; Desai, V.
Pneumatic muscle actuators (PMA) are a class of soft actuators known for their high power to weight ratio and inherent compliance. The pneumatic muscle's inherent properties make them very favorable for assistive applications (e.g., medical exoskeletons). This study presents a novel end-fitting design that makes the developed pneumatic muscle actuator lightweight, cost-effective, and modular, thus simplifying the process of assembly and maintenance. The pneumatic muscle actuator assembled using the novel end fittings achieves a shorter overall length without compromising its contraction. The pneumatic muscle actuator has been assembled using a commercial bladder and a braided sleeve alongside a pair of 3D printed novel end-fittings. The paper also details the developed actuator's characterization for force and deflection parameters at various operating pressures. A total of four muscle actuators of varying diameters with constant actuation length (100 mm) were developed and tested to showcase the effect of size on the muscle actuator's behavior. The study presented here also involved comparing three mathematical models developed for pneumatic muscles in order to find a model which closely resembles the developed muscle actuator. Finally, the developed pneumatic muscle actuator's behavior is compared with a commercially available muscle to determine the efficacy of the developed muscle's design. The tests showed that the muscle using a bladder of smaller volume but higher tensile modulus had a higher accuracy and stable performance. As the muscle is intended for medical applications, it was also put through an endurance test with realistic loading and pressure conditions, which revealed very promising results. © 2021 Elsevier B.V.
Design and Fabrication of a Test Rig for Performance Analysis of a Pneumatic Muscle Actuator
(Springer Science and Business Media Deutschland GmbH, 2021) Yashas, M.; do Rosario Carvalho, A.D.; Karanth P, K.P.; Desai, V.
Artificial pneumatic muscle actuator (PMA) is used to convert pneumatic power to mechanical force. These actuators are like biological muscles, hence its name. PMAs have a wide range of applications ranging from robotics, industrial to the medical applications, as a result of its high power-to-weight ratio, nonhazardous, and compliant nature. The PMA, like any other actuator, has to be tested and validated before using it in any real-world application. An experimental procedure is set up to allow the designer to predict, analyze, and optimize PMA performance before its use in sensitive applications. To achieve this, a rigid experimental test rig needs to be designed to test properties of PMA such as displacement, force, and load capacity. Result of the experiment conducted on the standard PMA by using developed test rig has 5% variation with the values of the manufacturerâ€™s datasheet. Â© 2021, Springer Nature Singapore Pte Ltd.