Machines, Mechanism and Robotics: Proceedings of iNaCoMM 2019 (Lecture Notes in Mechanical Engineering)

Organization Preface Contents Editors and Contributors A Mechanical Contrivance for Acoustic Levitation and Mixing of Particles 1 Introduction 2 Numerical Modeling 2.1 Geometry of Standing Wave Acoustic Levitation System 2.2 Procedure 2.3 Finite Element Method and Convergence Study 3 Results and Discussion 4 Summary References Design and Validation of Flexure-Based Hinges for Space Deployable Antenna Reflector 1 Introduction 2 Design Configuration of Deployable Mesh Reflector 2.1 Description 2.2 Kinematics of Deployable Mesh Reflector 3 Design of Joints with Flexure Hinges 3.1 Geometry of Tape Flexures 3.2 Kinematics of Tape Flexures 3.3 Structural Analysis of Tape Flexures 3.4 Implementation of Compliant 5J Joint in Deployable Reflector 4 Advantages of Tape Flexures in Deployable Configuration 5 Conclusion References Effect of Implant Materials on Bone Remodelling Around Cemented Acetabular Cup 1 Introduction 2 Materials and Method 2.1 Material Properties of Cortical Bone, Cancellous Bone, Cement Mantle and Implant 2.2 Loading Boundary Conditions and Bone Remodelling Models 2.3 Interfacial Conditions 3 Results 4 Discussion 5 Conclusion References Influence of Ageing and High BMI on Lower Back Pain 1 Introduction 2 Methodology 3 Results References Design and Analysis of a Robotic Lizard Using Five-Bar Mechanisms 1 Introduction 2 Topological Design of the Robotic Lizard Mechanism 3 Position Analysis of the Robotic Lizard Mechanism 3.1 Coordiates of Linkages in the Mechanism 3.2 Workspace of Robot Parts 4 Prototype of the Robotic Lizard Mechanism 5 Conclusions References Development of an Automated Material Handling System Inside a Nuclear Containment Structure 1 Introduction 2 Design Considerations and Constraints 3 System Details 4 Conclusions References Nonlinear Modeling and Stability Analysis of Piezoelectric Energy Harvesting Mechanism Under Aeroelastic Vibration 1 Introduction 2 Theoretical Background 3 Mathematical Formulation 3.1 Nonlinear Distributed Parameter Model 4 Results and Discussion 5 Conclusions References Optimization of Surface Roughness of Laser Trepanned Hole in ZTA Plate 1 Introduction 2 Experimentation 3 Modeling and Optimization 4 Conclusions References PI Control-Based Modelling of Segway Using Bond Graph 1 Introduction 2 Bond Graph Modelling of Segway 2.1 Word Bond Graph of Segway 3 Bond Graph Modelling of Segway 3.1 Word Bond Graph of Segway 4 Bond Graph Simulation Result of Segway 5 Conclusions References Strategic Coordination and Navigation of Multiple Wheeled Robots 1 Introduction 2 Developed Cooperative Multi-agent Systems 3 Developed Motion Planning Approaches 3.1 Approach 1: Potential Field-Based Motion Planner 3.2 Approach 2: Manually Constructed Mamdani-Type Fuzzy Logic-Based Motion Planner 3.3 Automatically Evolved Genetic-Fuzzy Motion Planner 4 Implementation of Strategic Coordination 5 Results and Discussion 5.1 GA parametric Study and Identification of Best Rule Base of FLC 5.2 The Need for Coordination Schemes 5.3 Comparison of Traveling Time Taken by the Robots 6 Concluding Remarks References Spur Gear Mechanism for Accurate Angular Indexing and Locking of Angular Position by Using Additive Manufacturing 1 Introduction 2 Literature Review 3 Methodology 3.1 Machine, Materials and Software 3.2 Design of Modified Ratchet Mechanism 3.3 Design of Spur Gear 4 Analysis 5 Development of Spur Gear Mechanism 6 Results and Discussion 7 Conclusion References Fabrication of Solid Lubricant Coating and Its Optimization Using Response Surface Methodology 1 Introduction 2 Experimentation 3 Results and Discussion 3.1 Response Surface Methodology 3.2 Analysis of Variance (ANOVA) 3.3 FESEM Analysis 4 Conclusions References Computing and Verification of IPMC Parameters Through Equivalent Beam Theory 1 Introduction 2 Mathematical Model 2.1 Beam Model 3 Results 4 Conclusion References Characterization of Mechanical Properties of Different Agro-derived Reinforcements Reinforced in Aluminium Alloy (AA6061) Matrix Composite: A Review 1 Introduction 2 Metal Matrix Composites (MMCs) 3 Reinforcing Materials in MMCs 3.1 Synthetic Reinforcements 3.2 Agro-industrial Waste Derivatives as Reinforcements 3.3 Advantages and Disadvantages of Agro-Derived and Synthetic Reinforcements. 4 Production of Metal Matrix Composites 4.1 Solid Route 4.2 Liquid Route 5 Summary and Conclusions References Shoe-Based Energy Harvesting Using Ionic Polymer Metal Composites 1 Introduction 2 Experimental Setup 2.1 Fabrication of Double Curved-Shaped Structure 2.2 Working Mechanism of Energy Harvester 3 Result and Discussion 4 Conclusion References IoT-Based Health Monitoring System (IHMS) 1 Introduction 2 Related Work 3 Working of IHMS 4 Simulation Results and Analysis 5 Conclusion References Search and Reconnaissance Robot for Disaster Management 1 Introduction 2 Existing ATVs 2.1 Legged Robots 2.2 SuperDroid Robots 2.3 Honda’s 3E-D18 3 Design 3.1 Material 3.2 Specifications 3.3 Articulating Chassis 4 Electronics and Power Management 4.1 Power Distributions and Voltage Levels 4.2 Operating Time 4.3 Power Calculations 5 Locking Mechanism and Modularity 5.1 Modularity 5.2 Locking Mechanism 6 Assistive Autonomy and Wireless Communication 6.1 Modes for Climbing 6.2 Assistive Autonomy 6.3 Robotics Operating System (ROS) Framework 6.4 Video and Audio Feed 7 Conclusion and Future Prospects References Experimental Validation of Various Existing Impedance Models for Acoustic Liners 1 Introduction 2 Analytical Models 2.1 Modified Howe Model 2.2 Betts Impedance Model 2.3 Bauer Impedance Model 3 Experimental Setup 4 Results 5 Conclusion References Design and Modeling of Pipeline Inspection Robot (PIR) for Underground Pipelines 1 Introduction 2 Design of Pipeline Inspection Robot (PIR) for Underground Pipelines Inspection 3 Kinematics Modeling of Link Mechanism 4 Results and Discussion 5 Conclusion References Mechanism of Material Removal in Magneto Abrasive Flow Machining 1 Introduction 2 Experimental Work 2.1 Fabrication of Work Specimen 2.2 Finishing of Aluminum Tubes Using MAFM 2.3 Variables and Responses 3 Regression Analysis 4 Results and Discussion 4.1 Analysis of MR and Surface Roughness in MAFM 4.2 Optimization 4.3 SEM Examination 5 Conclusions References Optimization of Cutting Parameters of EN9 Steel with Plain Carbide Tool Using Response Surface Methodology 1 Introduction 2 Experimental Methods 2.1 Selection of Work Piece and Tool 2.2 Composition of EN9 Steel with Energy Dispersive Spectroscopy (EDS) 3 Experimental Design 3.1 Response Surface Methodology 3.2 Measurement of Responses 4 Results and Discussions 4.1 Analysis of Output Parameters with Plain Carbide Tool Analysis of Crater Wear 4.2 Predicted Versus Actual Values for Response Factors with Plain Carbide Tool 4.3 Effect of Machining Parameters on Response Variables with Plain Carbide Tool Crater Wear 4.4 Optimization of Cutting Conditions with Plain Carbide Tool 5 Conclusions References Design and Development of a Sit-to-Stand Assistive Device 1 Introduction 2 Determination of Natural STS Trajectory 3 Four-Position Motion Generation for STS Mechanism 4 STS Device Design and Fabrication 5 STS Experiments with Assistive Device 6 Conclusion and Future Work 7 Declaration References Effect of Structural Characteristics on Kinematics of Planar Kinematic Chains 1 Introduction 2 Methodology 2.1 Joint Value 2.2 Design Parameters 2.3 Chain Motion Characteristic Matrix (CMC) 3 Detection of Isomorphism 4 Characteristic of Kinematic Chains 5 Path Analysis 6 Summary Appendix: Eight-link Single Degree of Freedom Kinematic Chains Figure References A Combined Experimental/Finite Element Model Analysis on Compressive Behavior of Tamarind Pod Shell Filler Reinforced Composites 1 Introduction 2 Experimental 2.1 Materials 2.2 Preparation of Composite Specimens 2.3 Density and Void Measurement 2.4 Compression Testing 2.5 Multiscale Material Modeling 2.6 Surface Treatment in Digimat-FE 2.7 Failure Indicator Model 3 Results and Discussions 3.1 Density and Void Content 3.2 Compressive Behavior 4 Conclusion References Workspace Evaluation of Robotino-XT Under Reconfiguration 1 Introduction 2 CBHA Description 3 Experimental Setup of Multi-section CBHA 4 Experimental Results 5 Conclusions and Future Scope References Assessment of Surface Water Quality Using Principal Component Analysis in the Yamuna River: A Case Study 1 Introduction 2 Literature Review 3 Material and Method 4 Result and Discussion 5 Conclusion References Performance Analysis of Gripper Assembly of an In-Vessel Fuel Handling Machine 1 Introduction 2 Description of Gripper Assembly 3 Analysis of Gripper Assembly 4 Results and Discussion 5 Design Improvements for Gripper Assembly with Larger Offset 6 Summary References Design and Development of a Remote Racking Mechanism for Switchgear 1 Introduction 2 Design of Remote Racking Mechanism 3 Remote Racking Mechanism Performance Estimation with FEA Analysis Simulation and Testing 3.1 Static Analysis 3.2 Modal Analysis 4 Conclusion References Iwan Model for Bolted Joint with Residual Macroslip Stiffness and Pinning 1 Introduction 2 Modeling of Backbone Curve 2.1 Iwan Model 2.2 Pinning Force 2.3 Backbone Curve 2.4 Comparison with Other Models 3 Conclusion References Kinematics Model of Bionic Manipulator by Using Elliptic Integral Approach 1 Introduction 2 System Configuration 3 Experimental Set-Up 4 Results and Discussion 5 Conclusions References A Review on the Effect of Biomechanical Aspects and the Type of Stability Fixation on the Bone Fracture Healing Process 1 Introduction 2 Biology of Bone Fracture Healing 3 Finite Element Analysis 4 Factors Affecting the Bone Healing Process 4.1 Simple and Complex Fracture 4.2 Open and Closed Reduction 4.3 Absolute and Relative Stability 4.4 Implants and Their Outcomes 4.5 Direction of Interfragmentary Movement 5 Discussion 6 Conclusion References Mechanical Behaviour of Special Type Seals Used in the FBR Application 1 Introduction 2 Seal Description 3 Numerical Analysis 3.1 Stage 1: Development of a Numerical Model 3.2 Stage 2: Optimisation Study 4 Conclusion References Realization of a Simple Mechanism to Simulate Core Subassembly Growth of FBR 1 Introduction 2 Different Methods Proposed to Simulate Subassembly Growth 3 Description of Test Set-up Based on Selected Mechanism 4 Tests on Lifting Tool Mechanism 5 Results and Discussion 6 Conclusion References Investigation of Multiple Stable States of Tensegrity Structure 1 Introduction 2 Stability of Tensegrity Structure 2.1 Monte Carlo-Based Algorithm and Simulation 2.2 Selection of Initial Configuration, Computation of Member Lengths, Member Forces and Nodal Forces 2.3 Steps of Simulation and Implementation in a Tensegrity Simplex 2.4 Implementation of Dynamic Relaxation (DR) Method 3 Conclusion References Design and Development of a Short-Wave Electric Infrared Heater of 215 kW Capacity 1 Introduction 2 Electric SWIR Heater 2.1 Background 2.2 SWIR Lamp 2.3 Electric IR Heater 3 Experiments on EIH 4 Conclusions References Kinematic and Dynamic Modeling of a Quadruped Robot 1 Introduction 2 Kinematic Mechanism of the Legged Robot 2.1 D-H Parameter Representation 2.2 Inverse Kinematics 3 Dynamic Motion and Joint Space Formulation 4 Simulation Results 5 Conclusions References Nonlinear Joint Stiffness Parameter Identification 1 Introduction 2 Theory: Nonlinear Joint Parameter Identification 3 Numerical Simulation 3.1 Joint Parameter Identification 4 Conclusion References Design and Development of Reaper for Harvesting Maize 1 Introduction 2 Problem Statement 3 Design of the Reaper 4 Detailed Design 4.1 Design of Traction System 4.2 Traction System Arrangement 4.3 Design of Reaper Mechanism 4.4 Design of Frame 5 Prototype of Maize Harvesting Reaper 6 Cost Analysis of Maize Harvesting 7 Conclusions and Future Directions References Transpose Jacobian Control of Flexible Joint Upper Limb Exoskeleton System 1 Introduction 2 System Dynamics 2.1 Device Specifications 2.2 Flexible Joint Exoskeleton Dynamics 3 Control Scheme 3.1 Rigid Dynamics Transpose Jacobian Control Scheme 3.2 Modified Dynamics Transpose Jacobian Control Scheme 4 Results and Discussion 5 Conclusion References Defect-Free Synthesis, Analysis and Optimization of Planar Lower Limb Assistive Device for Gait Rehabilitation 1 Introduction 2 Clinical Design Specifications 3 Caster Walker Gait Trainer (CGT) Design 4 Optimal Synthesis of Mechanism 5 Conclusions References Theoretical and Experimental Investigation of Friction in Hydraulic Actuators 1 Introduction 2 Friction Models 2.1 LuGre Model [1–3] 2.2 Modified LuGre Model [1] 3 Experimental Setup and Methodology 4 Results and Discussion 4.1 Identification of σ2, Vb, Fs, and Fc 4.2 Model Validations 5 Conclusion References Support Vector Classifier-Based Broken Rotor Bar Detection in Squirrel Cage Induction Motor 1 Introduction 2 Broken Rotor Bar Fault 3 Fast Fourier Transformation 4 Support Vector Machine 4.1 SVM Classifier for Broken Bar Detection 4.2 Data Acquisition and Implementation of SVM Classifier 4.3 Results 5 Conclusion References Kinematic and Dynamic Analysis of Primary FCS Circuits of Typical 25 Seater Transport Aircraft 1 Introduction 2 Problem Definition and Methodology 3 Geometric Modeling and Kinematic Simulation 4 Kinematic Simulation in MSC ADAMS 4.1 ADAMS Models and Kinematic Joints 4.2 Kinematic Motion 4.3 Simulation Results 5 Force Analysis in MSC ADAMS 5.1 Hinge Moment Calculations 5.2 Aerodynamic (Actuator) Load Calculations 5.3 ADAMS Force Model 5.4 Validation of Force Analysis Carried Out Using MSC ADAMS 5.5 Results of Force Simulation 6 Inertia Effects of Control Surfaces on Pilot Controls 7 Conclusions References Kinematic Synthesis and Optimization of a Double-Slotted Fowler Flap Mechanism 1 Introduction 2 Problem Definition 3 Methodology 3.1 Kinematic Synthesis of the Six Bar Mechanism 3.2 Parametric Analysis of the Design Parameters 3.3 Dimensional Synthesis Using MATLAB Program 3.4 Optimization of Link Lengths 3.5 Dimensional Synthesis of Aft-flap Mechanism 4 Verification of Synthesis Procedure with CAD Models 5 Fabrication of Prototype Model of the Mechanism 6 Conclusion References Intelligent Modeling of Dilution Percent in Laser Surface Alloying of AlxCu0.5FeNiTi High Entropy Alloy 1 Introduction 2 Experimental Method 3 Results and Discussions 3.1 Regression-Based Modeling 3.2 ANN-Based Modeling 3.3 Comparison of RSM and ANN Models 4 Conclusions References Spinal Needles Insertion and Traversal Based on Fiber Bragg Gratings—From Conceptual Approach to Prototype Development 1 Introduction 2 Device Design and Development 3 Experimental Procedure and Results 3.1 Device Calibration Methodology 3.2 Experimentation, Results, and Discussion 4 Conclusion References Kinematic and Dynamic Analysis of Sliding Door Operating Mechanism for Internal Weapon Bay 1 Introduction 2 Kinematic Analysis of Mechanism (Analytical) 2.1 Input Motion Profile of Connecting Link-A 2.2 Displacement Analysis: Point-B (Slider) 2.3 Velocity Analysis: Point-B (Slider) 2.4 Acceleration Analysis: Point-B (Slider) 3 Kinematic and Dynamic Analysis of Mechanism (Software) 3.1 Kinematic Analysis of Slider (Point-B) 3.2 Kinematic Analysis of Point-E 3.3 Dynamic Analysis 4 Conclusion 5 Further Scope of Works References A Method to Detect Isomorphism in Planar Kinematic Chains 1 Introduction 2 Basic Terminologies in Kinematic Chains 3 Method for Detection of Isomorphism 4 Analysis of Four-Bar Kinematic Chain 4.1 Comparison Between Watt and Stephenson Chains 4.2 Comparison Between a Pair of 8-links Single Degree of Freedom Kinematic Chains 4.3 Analysis of 8-link Single Degree of Freedom Kinematic Chains 4.4 Analysis of 9-link Double Degree of Freedom Kinematic Chains 5 Conclusion References Generation of Coupler Curves for Planar Kinematic Chains Using Link Joint Equations 1 Introduction 2 Method 3 Applications and Results 4 Conclusions References Tribological Behaviour of Polymer-Based Composite Reinforced with Molybdenum Disulphide 1 Introduction 2 Materials and Methodology 2.1 Materials and Fabrication Process 2.2 Analysis of Tribological Properties 2.3 Estimation of Volumetric Wear of the Pin 3 Result and Discussion 3.1 Sample Designation 3.2 Tribological Behaviour of Polymer Composite 4 Conclusion References Prediction of the Blood Flow Through Stenosis in AVF for Hemodialysis 1 Introduction 2 Geometrical Model 3 Numerical Modeling 4 Result 5 Conclusion References Tool Quality Monitoring in Friction Stir Welding Process 1 Introduction 2 Experimental Procedure 3 Result and Discussion 4 Conclusion References Condition Monitoring and Fault Diagnosis of Induction Motor in Electric Vehicle 1 Introduction 2 Faults in Induction Motor 3 Condition Monitoring Techniques 4 Proposed Methodology 5 Data Acquisition and Processing 6 On-Board Diagnosis 7 Conclusion References Mechanical Design Calculations of Flywheel Generator 1 Introduction 2 Design Schematic 3 Modelling and Design Calculation 3.1 NdFeB Magnet and Equivalent Layer 3.2 Stress Analysis of Rotor 3.3 Max Deflection of System 3.4 Anisotropic and Isotropic Properties 3.5 Critical Speed of the System 3.6 Windage Losses 4 Conclusion References Numerical Analysis and Reduction of Blade-Vortex Interaction (BVI) Noise in Helicopter Using Numerical Simulation 1 Introduction 2 Computational Methodology 3 Results and Discussions 4 Conclusion References Dynamics of Underwater Manipulator: A Recursive Lagrangian Formulation 1 Introduction 2 Mathematical Modeling of Object Moving Through Fluid 2.1 Dynamic Effect Due to Added Mass 2.2 Hydrodynamic Drag 2.3 Buoyancy 3 Recursive Lagrangian Formulation for the Serial Link Underwater Manipulator 3.1 The Lagrangian 3.2 Kinetic Energy 3.3 Potential Energy 3.4 Drag Force and Rayleigh Dissipation Function 3.5 Derivation for Recursive Formulation 4 Modeling and Simulation of Two-Link Underwater Manipulator 5 Experiments and Validation 6 Conclusion References Effect of Tool Geometry on Chip Morphology Formed During CNC Turning of a Round Shaped Product 1 Introduction 2 Workpiece and Tool Material 2.1 Workpiece Material 2.2 Tool Material and Geometry 3 Development of Mathematical Model 4 Experimental Verification 5 Discussion 6 Conclusion References Optimization of Equal Multi-square Cell Crash Box for Enhanced Energy Absorption 1 Introduction 2 Mathematical Model 3 Simulation Using LS-DYNA 4 Experimentation 5 Parametric Study 6 Overall Optimization Process 6.1 Optimization Algorithm 6.2 Optimization Results 7 Conclusions Reference Joint Stiffness Estimation Between Spindle-Tool Holder by Considering Clamping Forces 1 Introduction 2 Geometric Model of Spindle-Tool Holder Joint Interface 3 Contact Stiffness Model 3.1 Elastic Deformation of the Aspirates 3.2 Plastic Deformation of the Aspirates 4 BT-40 Spindle Shaft Case Study 4.1 Experimental Modal Analysis 4.2 Finite Element Analysis 5 Conclusion References Buckling Analysis of Nonlinear First-Order Shear Deformation Composite Plates 1 Introduction 2 Theoretical Formulations 2.1 Basic Assumptions 2.2 Kinematics 2.3 Equation of Motion 2.4 Constitutive Equations of a Laminate 3 Analytical Solutions 4 Numerical Results 5 Conclusions References Path Tracing and Object Avoidance Algorithm for Robotic Manipulators Incorporating Constrained Filters 1 Introduction 2 Representation of Rigid Bodies 3 Methodology 3.1 Workspace and C-Space 3.2 Collision Filter 3.3 Nearest State Filter 3.4 Smoothing Filter 3.5 Implementation of Approach 3.6 Results 4 Conclusion References Characterisation of Composites Made by Prepreg Waste 1 Introduction 2 Material Preparation 2.1 Chips Chopped from Prepreg Waste 2.2 Fabrication of PBDC Material 3 Experimentation 3.1 Aspect Ratio Size of Chopped Chips 3.2 Fibre Volume Fraction 3.3 Void Fraction 3.4 Tensile Test Setup for PBDC 4 Results and Discussions 4.1 Chips Size Results from Image J 4.2 Fibre and Void Volume Fraction 4.3 Tensile Testing Results 5 Conclusions References Experimental Investigation on the Effect of Process Parameters for CNC Turning of UNI Al 3055 Alloy Under MQCL Based Cooling Technique 1 Introduction 2 Experimental Procedure 2.1 Experimental Setup 2.2 Work Piece Materials 2.3 Design of Experiment 3 Results and Analysis 4 Discussion 5 Conclusions References Reciprocating Wear Behaviour of Al–SiC Composite Processed with MWS 1 Introduction 2 Experimental Details 2.1 Materials 2.2 Processing Details and Characterization Study 3 Results and Discussion 3.1 Microstructure Analysis of the Milled Powder Material 3.2 Hardness 3.3 Wear analysis 4 Conclusion References Dynamics and Control of a 6-DOF Biped Robot on MATLAB/SimMechanics 1 Introduction 2 Modeling of System in MATLAB/SimMechanics 2.1 Torso Modeling 2.2 Leg Modeling 2.3 PID Control Modeling 2.4 Ground Contact Modeling 3 Simulation and Results 4 Dynamic Stability 5 Conclusion References Modal Analysis of 3-RRR SPM Model 1 Introduction 2 Modeling of the 3-RRR SPM 3 Simulation of SPM 4 Experimentation of SPM 5 Comparison of Results 6 Conclusion References Mode Based Crack Identification of Rotor 1 Introduction 2 Finite Element Formulation for Cracked Beam Element 3 Procedure for Identifying the Crack and Location 4 Illustrative Examples 4.1 Case 1: Single Crack at 42nd Element 4.2 Case 2: Single Crack at 111th Element 4.3 Case 3: Multi-Crack at 45th and 161st Element 5 Conclusion Annexure A References A Note on Implementation of Raghavan–Roth Solution for Wrist-Partitioned Robots 1 Introduction 2 Raghavan and Roth Algorithm Preview 3 Modified Architecture 3.1 Failure of Raghavan–Roth Solution 4 Numerical Example Case of KUKA KR 5 Robot 5 Discussion 6 Conclusion References Experimental Identification of Residual Unbalances for Two-Plane Balancing in a Rigid Rotor System Integrated with AMB 1 Introduction 2 Influence Coefficient Method 3 Working of AMB 4 Experimental Simulation 4.1 Physical and Electrical Connections 4.2 Testing of the Physical System 4.3 Dynamic Balancing 5 Conclusions References Determination of Steering Actuator Mounting Points of a Load Haul Dump Machine for Optimum Performance 1 Introduction 2 Geometric Modeling of the Articulated Steering Arrangement 2.1 Flowchart 2.2 Results Observed from MATLAB Programming 3 Force Analysis Using MSC ADAMS 4 Results and Discussion 5 Conclusion and Future Scope of Work 5.1 Conclusion 5.2 Future Scope of Work References Dynamic Analysis of Helicopter Boom with Different Payload Configurations 1 Introduction 2 Helicopter Boom and Its Arsenal 3 Configurations of Weapons Systems and Their Dynamic Behavior 4 Impact Hammer Test 5 Post Flight Data 6 Sensitivity Analysis 7 A Passive Damping Solution 8 Conclusion References Characterization of Composites Made with In-House Prepregs at Different Curing Cycle 1 Introduction 2 Material Making 2.1 Prepreg Making Process 2.2 B-Stage Curing 2.3 Laminate and Test Specimen 3 Experimentation 3.1 Fiber and Void Volume Fraction 3.2 Tensile Testing 4 Result and Discussion 4.1 Tensile results 4.2 Comparison of Strength and Modulus with Available Literature 4.3 Failure Analysis Using Microscope 5 Conclusions References A Parametric Approach to Detect Isomorphism and Inversion in the Planar Kinematic Chains 1 Introduction 2 Methodology 3 Isomorphism 4 Inversion 5 Results 6 Conclusion Appendix References Feasibility of Tensegrity-Based Walking Robot 1 Introduction 2 Guiding Principle of Gait Generation in Tensegrity 2.1 Sensitive Analysis for Cable Actuation 2.2 Concept of Locomotion 2.3 Simulation of Gait of a Four-Bar Tensegrity Mechanism 2.4 Gate Generation of Other Tensegrity Mechanism 3 Conclusion References Design and Development of a Climb-Free Telescopic Mechanism for Harvesting from Tall Trees 1 Introduction 2 Design Concept 3 Selection of Appropriate Telescopic Mechanism 3.1 Types of Telescopic Mechanism 3.2 Comparison of Telescopic Mechanisms 3.3 Selection of Mechanism 4 Concept of Support System 5 Testing of Prototype 6 Conclusion References Simulation Modeling of 37 Degrees-of-Freedom ICF Coach 1 Introduction 2 Simulation Modeling 3 Equations of Motion 4 Natural Frequencies 5 Response of the System 6 Conclusion References Transmission Efficiency and Surface Damage of Polymer–Polymer Gear Pair Under Wet Lubrication 1 Introduction 2 Methodology 2.1 Experimental Methodology 2.2 Numerical Analysis 3 Results and Discussion 3.1 Temperature Measurement 3.2 Transmission Efficiency Measurement 3.3 Test Gear Surface Wear Morphology 4 Conclusion References Effect of Acceleration of Moving Object During Collision with Stationary Object 1 Introduction 2 Coefficient of Restitution (COR) 3 Effect of Acceleration on Momentum Transfer 4 Effect of Retardation on Momentum Transfer 5 Conclusion References Finite Element Modelling of the Human Lumbar Vertebrae for Dynamic Analysis 1 Introduction 2 Solid Modelling 3 Results and Discussion References Hybrid Steering System of Six-Wheel Multiterrain Robot (SW-MTR) 1 Introduction 2 The Steering System of SW-MTR 2.1 Differential Steering System 2.2 Worm-Sector Steering 2.3 Hybrid Steering 3 Dynamic Modeling of Hybrid Steering 3.1 Motion Analysis 3.2 Equation of Motion 4 Comparison of Simulation Results 4.1 Comparison of Steering Radius 4.2 Comparison of Contact Forces 4.3 Comparison of Motion Torque 4.4 Comparison of Power Consumption 5 Conclusion References Flexible Coupling—A Research Review 1 Background of Present Work and Scope of the Research 2 Reported Work Pertaining to Flexible Couplings 3 Summary and Conclusion References Design of Post-Curing Inflator Using Bistable Locking Mechanism 1 Introduction 2 Design Requirements 3 Bistable System 3.1 Bistable Beam 3.2 Pseudo-Bistable System 3.3 Retractable Mechanism 3.4 Compliant Mechanism 3.5 Four-Bar Linkage 4 Design Setup 4.1 Pressure Calculation 5 Rapid Prototyped Setup 6 Conclusion References Stability Analysis of a Dual-Rate Haptics Controller Using Discrete-Time Root-Locus Method 1 Introduction 2 Dual-Rate Haptics Controller 3 Stability Analysis Using DTRL Method 3.1 Root-Locus as a Function of B 3.2 Root-Locus as a Function of K 4 Discussions and Conclusions 5 Appendix References Design of Compliant Iris 1 Introduction 2 Iris Structure 3 Stiffness Analysis 3.1 Derivation of Stiffness Expression 4 Discussion 5 Conclusion References Investigation on the Effects of Nose Radius and Rake Surface of Cutting Tool for Machinability During Sustainable Turning of EN 31 Alloy Steel 1 Introduction 2 Experimentation 3 Results and Discussion 3.1 Analysis on MRR 3.2 Analysis for Cutting Temperature 4 Conclusions References Battery Performance Analysis of Static Temperature Variations for Medical Environment 1 Introduction 2 Experimentation 2.1 Implementation 2.2 Thermography 2.3 Scanning Electron Microscope 3 Results and Discussion 3.1 Thermography Image Analysis 3.2 Scanning Electron Microscope 4 Conclusion References Derivation of the Rotation Matrix for an Axis-Angle Rotation Based on an Intuitive Interpretation of the Rotation Matrix 1 Introduction 1.1 Problem Statement 2 Derivation of the Rotation Matrix 3 An Example 4 Conclusions References Resolving Hyper-Redundant Planar Serial Robots to Ensure Grasp 1 Introduction 2 Tractrices and Tractors 3 Methodology 4 Simulation Showing Caging and Grasp 4.1 Example 5 Conclusion References Boom Packaging with Yoshimura Pattern: Geometrical and Deformation Analysis 1 Introduction 2 Geometry of Yoshimura Pattern 2.1 Radius of Packaged Cylinder 2.2 Packaging Efficiency 2.3 Residual Volume Calculations 3 Packaging Behavior 4 Deployment of Single Story Yoshimura Cylinder 5 Summary References Multimodal Medical Image Fusion Based on Interval-Valued Intuitionistic Fuzzy Sets 1 Introduction 2 Literature Review 3 Proposed Method 4 Experimental Results 5 Conclusion References The Influence of Ultrasound for the Protection of Animals on Highways Through Electronic Circuits 1 Introduction 2 Literature Review 3 Proposed Method 3.1 Generation of Ultrasound Waves Using 555 Timer 4 Simulation Results 5 Conclusion References Workspace Analysis of a 5-Axis Parallel Kinematic Machine Tool 1 Introduction 2 Description of Parallel Kinematic Machine (PKM) 3 Position Analysis 3.1 Inverse Position Analysis (IK) and Forward Position Analysis (FK) 4 Workspace Analysis 5 Results 6 Conclusion and Future Scope References Reaction Solvability Analysis Using Natural Coordinates 1 Introduction 2 Equations of Motion and the RSA Algorithm 2.1 Equations of Motion of Multi-body Systems 2.2 The RSA Algorithm 3 The Optimal Coordinate Formulation for RSA 3.1 Joint Reactions from Natural Coordinates 3.2 Joint-Augmented Natural Coordinate Formulation 4 RSA of a Planar Mechanism Using Natural Coordinates 4.1 Assumptions 4.2 Modeling Using Natural Coordinates 4.3 Applying RSA Algorithm 4.4 Discussion 5 Conclusions References Design, Analysis and Development of Sweep Arm Scanner for Scanning Fast Breeder Reactor Core 1 Introduction 2 Sweep Arm Scanner (SAS) 2.1 General Aspects of SAS 3 Analysis of L-Motion 3.1 Kinematic Analysis 3.2 Dynamic Analysis 4 Analysis of R-Motion 4.1 R-Motion Using Bevel Gears 4.2 R-Motion Using Alternate Options 5 Summary References Kinematics of Three Segment Continuum Robot for Surgical Application 1 Introduction 2 Preliminary Design 2.1 Model and Design Specification 2.2 Kinematic Assumptions 3 Continuum Robot Kinematics 3.1 Forward Kinematics 3.2 Inverse Kinematics 4 Workspace and Dexterity Analysis 4.1 Workspace Analysis 4.2 Dexterity Analysis 4.3 Result and Discussion 5 Conclusion References Automatic Seed Cum Fertilizer Sowing Machine with Water Dripping on Seeds 1 Introduction 2 Literature Review 3 Proposed Method 4 Conclusion References Automatic Drip Irrigation Control System for Paddy Fields in Depleting Water Resource Areas 1 Introduction 2 Proposed System 3 Results and Discussion References Investigating the Ambient Thermal Loading Failure of Lead–Acid Battery Based on Thermal An