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A. Arockia Selvakumar

Bio: A. Arockia Selvakumar is an academic researcher from VIT University. The author has contributed to research in topics: Parallel manipulator & Robot. The author has an hindex of 6, co-authored 33 publications receiving 87 citations. Previous affiliations of A. Arockia Selvakumar include Sri Venkateswara College of Engineering.

Papers
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Journal ArticleDOI
TL;DR: In this paper, the position analysis and angular tilt of the mobile platform along x-axis and y-axis were found by actuating the links of the manipulators and in order to confirm the results obtained by the experimental method, ADAMS was used for solving the kinematic problems involved.

13 citations

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TL;DR: In this study, a robot is built at low cost budget to carry out inspection at specified depth in a water body to meet all its requirements with minimal frontal drag.

12 citations

Journal ArticleDOI
30 Apr 2016
TL;DR: Comparison of various hardwares available to make the system work is done considering the factors like cost, ease of development, simplicity, etc.
Abstract: Internet of things is becoming the most growing technology in recent days. Main idea behind the IoT is to extract the various values from various sensors which are attached to various objects by connecting them to the network and automating the actions performed by the object or a system. In this review paper, a study is made to understand the importance of use of IoT in humanoid robots. In order to appreciate this growing technology, this technology should be implemented to as many objects as possible so that everything will get connected in future. Along with other hardware developments, 5G internet technology is also getting developed rapidly. Use of IoT in humanoid will make many things easier to monitor and control in many ways which is discussed further in this paper. Case studies are also involved in this study to get the brief idea about how the hardware development is being done in this area. Comparison of various hardwares available to make the system work is done considering the factors like cost, ease of development, simplicity, etc.

11 citations

Journal Article
TL;DR: The modeling and the workspace analysis of a 3 DOF Parallel Manipulator (3 DOF PM) using screw joints for very accurate positioning is performed and it is found that the radius of moving platform is directly proportional to the work volume for a constant link length and the link length is also direct proportional toThe work volume, at a constant radius of the moving platform.

11 citations

Journal ArticleDOI
TL;DR: This paper presents a novel comfortable wearable therapy device for treating patients suffering with head/neck posture problems using parallel mechanism concept that needs to automated and safely operated under the therapist supervision.
Abstract: Current treatment for patients suffering from cervical spine injuries is by static braces which causes discomfort and immobilization of the neck. This paper presents a novel comfortable wearable therapy device for treating patients suffering with head/neck posture problems using parallel mechanism concept. To achieve this, a conceptual design of a threedegrees-of-freedom Revolute-Prismatic-Spherical configuration parallel manipulator with 3 extensible links is proposed. However, precision and workspace are the general considerations for designing a parallel manipulator. In this research, workspace and position analysis is carried out for the device. By applying geometrical method and vector-loop approach, the inverse kinematics equations are derived. The parallel manipulator is modeled using SOLIDWORKS and simulated using MATLAB. From the simulation results, stroke length of the actuators, angular tilt and position of the moving platform is obtained. To validate the simulation results a preliminary prototype is built and tests were carried. The obtained results found to be satisfying the cause of the research. Furthermore, the device needs to automated and safely operated under the therapist supervision.

10 citations


Cited by
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Journal ArticleDOI
TL;DR: A review of the research effort, developments and innovation in agricultural robots for field operations, and the associated concepts, principles, limitations and gaps can be found in this article, where the authors focus on: fusing complementary sensors for adequate localisation and sensing abilities, developing simple manipulators for each agricultural task, developing path planning, navigation and guidance algorithms suited to environments besides open fields and known a-priori, and integrating human operators in this complex and highly dynamic situation.

377 citations

Journal ArticleDOI
TL;DR: This part of the review of the research, developments and innovation in agricultural robots for field operations, focuses on characteristics, performance measures, agricultural tasks and operations.

181 citations

Journal ArticleDOI
TL;DR: In this article, a new approach for singularity analysis of parallel manipulators by taking into account motion/force transmissibility is presented, where several performance indices are introduced to measure the closeness to singularities.
Abstract: Singularity analysis is one of the most important issues in the field of parallel manipulators. An approach for singularity analysis should be able to not only identify all possible singularities but also explain their physical meanings. Since a parallel manipulator is always out of control at a singularity and its neighborhood, it should work far from singular configurations. However, how to measure the closeness between a pose and a singular configuration is still a challenging problem. This paper presents a new approach for singularity analysis of parallel manipulators by taking into account motion/force transmissibility. Several performance indices are introduced to measure the closeness to singularities. By using these indices, a uniform “metric” can be found to represent the closeness to singularities for different types of nonredundant parallel manipulators.

115 citations

Journal ArticleDOI
07 May 2018-Energies
TL;DR: In this article, three drive modes of the regenerative shock absorber systems, namely the direct drive mode, the indirect drive mode and hybrid drive mode are reviewed for their readiness to be implemented.
Abstract: In this paper, the current technologies of the regenerative shock absorber systems have been categorized and evaluated. Three drive modes of the regenerative shock absorber systems, namely the direct drive mode, the indirect drive mode and hybrid drive mode are reviewed for their readiness to be implemented. The damping performances of the three different modes are listed and compared. Electrical circuit and control algorithms have also been evaluated to maximize the power output and to deliver the premium ride comfort and handling performance. Different types of parameterized road excitations have been applied to vehicle suspension systems to investigate the performance of the regenerative shock absorbers. The potential of incorporating nonlinearity into the regenerative shock absorber design analysis is discussed. The research gaps for the comparison of the different drive modes and the nonlinearity analysis of the regenerative shock absorbers are identified and, the corresponding research questions have been proposed for future work.

46 citations

Journal ArticleDOI
TL;DR: This paper investigates how the shape, dimensions and the distribution of singularities in the workspace for different configurations, with different degrees of freedom, of a reconfigurable robotic system, are changed.

39 citations