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Journal Articles

Design of decoupled and dynamically isotropic parallel manipulators considering five degrees of freedom

Yogesh Pratap Singh, Nazeer Ahmad, Ashitava Ghosal

J. Mechanisms Robotics.

Paper No: JMR-22-1492

DOI: https://doi.org/10.1115/1.4062176

Published Online: March 21, 2023

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Topics: Degrees of freedom, Design, Manipulators, Center of mass, Computer software, Engineering prototypes, Finite element analysis, Geometry, Simulation results, Torsion

Proceedings Papers

Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom

Yogesh Pratap Singh, Ashitava Ghosal

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A042, August 14–17, 2022

Paper No: DETC2022-89173

DOI: https://doi.org/10.1115/DETC2022-89173

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Topics: Degrees of freedom, Design, Manipulators

Proceedings Papers

Singularity and Controllability Analysis of Parallel Manipulators

Prasun Choudhury, Ashitava Ghosal

Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A024, September 13–16, 1998

Paper No: DETC98/MECH-5958

DOI: https://doi.org/10.1115/DETC98/MECH-5958

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Topics: Manipulators, Actuators, Degrees of freedom, Equations of motion, Kinematics, Lie algebras

Proceedings Papers

Differential Geometric Analysis of Singularities of Point Trajectories of Serial and Parallel Manipulators

Ashitava Ghosal, Bahram Ravani

Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A025, September 13–16, 1998

Paper No: DETC98/MECH-5967

DOI: https://doi.org/10.1115/DETC98/MECH-5967

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Topics: Manipulators, Degrees of freedom, Geometry, Shapes, Trajectories (Physics)

Proceedings Papers

A Dual Ellipse Is a Cylindroid

Ashitava Ghosal, Bahram Ravani

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A032, September 13–16, 1998

Paper No: DETC98/MECH-5884

DOI: https://doi.org/10.1115/DETC98/MECH-5884

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Topics: Eigenvalues, Kinematics

Proceedings Papers

Model Reference Learning Control for Rigid Robots

K. R. Guruprasad, Ashitava Ghosal

Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 445-454, September 12–16, 1999

Paper No: DETC99/DAC-8659

DOI: https://doi.org/10.1115/DETC99/DAC-8659

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Topics: Robots, Control equipment, Uncertainty, Adaptive control, Dynamics (Mechanics), Equations of motion, Errors, Simulation experiments

Proceedings Papers

Analysis of Finite Self Motion and Finite Dwell in Closed-Loop Mechanisms and Parallel Manipulators

Sandipan Bandyopadhyay, Ashitava Ghosal

Proc. ASME. IDETC-CIE2001, Volume 2A: 27th Design Automation Conference, 159-168, September 9–12, 2001

Paper No: DETC2001/DAC-21024

DOI: https://doi.org/10.1115/DETC2001/DAC-21024

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Topics: Manipulators, Degrees of freedom, Kinematics

Journal Articles

A Soft-Robotic End-Effector for Independently Actuating Endoscopic Catheters

K. P. Ashwin, Ashitava Ghosal

J. Mechanisms Robotics. December 2019, 11(6): 061004.

Paper No: JMR-19-1015

DOI: https://doi.org/10.1115/1.4044539

Published Online: October 10, 2019

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Topics: End effectors, Kinematics, Pressure, Catheters, Deformation, Endoscopic devices

Journal Articles

Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory

B. Sandeep Reddy, Ashitava Ghosal

J. Comput. Nonlinear Dynam. July 2018, 13(7): 074501.

Paper No: CND-17-1524

DOI: https://doi.org/10.1115/1.4040022

Published Online: May 17, 2018

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Topics: Control equipment, Robots, Stability, Trajectories (Physics), Computer simulation, Robustness

Journal Articles

Workspace of Multifingered Hands Using Monte Carlo Method

Arkadeep Narayan Chaudhury, Ashitava Ghosal

J. Mechanisms Robotics. August 2018, 10(4): 041003.

Paper No: JMR-17-1221

DOI: https://doi.org/10.1115/1.4039001

Published Online: April 13, 2018

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Topics: Algorithms, Dimensions, End effectors, Friction, Kinematics, Manipulators, Monte Carlo methods, Simulation, Degrees of freedom, Modeling

Journal Articles

Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Midhun S. Menon, V. C. Ravi, Ashitava Ghosal

J. Mechanisms Robotics. August 2017, 9(4): 041010.

Paper No: JMR-16-1208

DOI: https://doi.org/10.1115/1.4036571

Published Online: May 15, 2017

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Topics: Algorithms, Robots, Path planning, Trajectories (Physics)

Includes: Supplementary data

Journal Articles

Chaotic Motion in a Flexible Rotating Beam and Synchronization

B. Sandeep Reddy, Ashitava Ghosal

J. Comput. Nonlinear Dynam. July 2017, 12(4): 044505.

Paper No: CND-16-1537

DOI: https://doi.org/10.1115/1.4035825

Published Online: February 8, 2017

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Topics: Blades, Chaos, Chaos synchronization, Computer simulation, Control equipment, Errors, Rotating beams, Stability, Synchronization, Wind turbines

Journal Articles

Asymptotic Stability and Chaotic Motions in Trajectory Following Feedback Controlled Robots

B. Sandeep Reddy, Ashitava Ghosal

J. Comput. Nonlinear Dynam. September 2016, 11(5): 051012.

Paper No: CND-15-1325

DOI: https://doi.org/10.1115/1.4032389

Published Online: February 3, 2016

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Topics: Robots, Stability, Control equipment, Trajectories (Physics), Feedback, Chaos, Flow (Dynamics)

Journal Articles

Nonlinear Dynamics of a Rotating Flexible Link

B. Sandeep Reddy, Ashitava Ghosal

J. Comput. Nonlinear Dynam. November 2015, 10(6): 061014.

Paper No: CND-14-1151

DOI: https://doi.org/10.1115/1.4028929

Published Online: November 1, 2015

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Topics: Chaos, Computer simulation, Deformation, Flow (Dynamics), Nonlinear dynamics, Wind turbines, Blades, Stiffness, Vibration, Damping

Journal Articles

Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

Shanthanu Chakravarthy, K. Aditya, Ashitava Ghosal

J. Med. Devices. December 2014, 8(4): 041011.

Paper No: MED-13-1273

DOI: https://doi.org/10.1115/1.4028420

Published Online: October 13, 2014

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Topics: Actuators, Braid (Textile), Control equipment, Kinematics, Muscle, Pressure, Surgical tools, Surgery, Design, Experimental characterization

Journal Articles

A Novel Prevailing Torque Threaded Fastener and Its Analysis

B. S. C. Ranjan, H. N. Vikranth, Ashitava Ghosal

J. Mech. Des. October 2013, 135(10): 101007.

Paper No: MD-12-1435

DOI: https://doi.org/10.1115/1.4024977

Published Online: September 5, 2013

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Topics: Fasteners, Finite element analysis, Stress, Thread, Torque, Deformation

Proceedings Papers

Redundancy Resolution Using Tractrix: Simulations and Experiments

V. C. Ravi, Subrata Rakshit, Ashitava Ghosal

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 1037-1045, August 30–September 2, 2009

Paper No: DETC2009-86934

DOI: https://doi.org/10.1115/DETC2009-86934

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Topics: Redundancy (Engineering), Resolution (Optics), Simulation, Robots, Actuators, End effectors, Algorithms, Degrees of freedom, Engineering prototypes, Inertia (Mechanics)

Journal Articles

Redundancy Resolution Using Tractrix—Simulations and Experiments

V. C. Ravi, Subrata Rakshit, Ashitava Ghosal

J. Mechanisms Robotics. August 2010, 2(3): 031013.

DOI: https://doi.org/10.1115/1.4001777

Published Online: July 23, 2010

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Topics: Algorithms, End effectors, Manipulators, Redundancy (Engineering), Resolution (Optics), Simulation, Robots

Journal Articles

Special Coordinates Associated With Recursive Forward Dynamics Algorithm for Open Loop Rigid Multibody Systems

Sangamesh R. Deepak, Ashitava Ghosal

J. Appl. Mech. September 2008, 75(5): 051003.

DOI: https://doi.org/10.1115/1.2936923

Published Online: July 2, 2008

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Topics: Algorithms, Dynamics (Mechanics), Equations of motion, Multibody systems, Tree (Data structure)

Proceedings Papers

Analytical Determination of Principal Twists and Singular Directions in Robot Manipulators

Sandipan Bandyopadhyay, Ashitava Ghosal

Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1095-1106, September 2–6, 2003

Paper No: DETC2003/DAC-48819

DOI: https://doi.org/10.1115/DETC2003/DAC-48819

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Topics: Manipulators, Computation, Degrees of freedom, Eigenvalues, End effectors, Kinematics

Journal citation

NARROW

Supplemental Material

Manuscript

Design of decoupled and dynamically isotropic parallel manipulators considering five degrees of freedom

Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom

Singularity and Controllability Analysis of Parallel Manipulators

Differential Geometric Analysis of Singularities of Point Trajectories of Serial and Parallel Manipulators

A Dual Ellipse Is a Cylindroid

Model Reference Learning Control for Rigid Robots

Analysis of Finite Self Motion and Finite Dwell in Closed-Loop Mechanisms and Parallel Manipulators

A Soft-Robotic End-Effector for Independently Actuating Endoscopic Catheters

Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory

Workspace of Multifingered Hands Using Monte Carlo Method

Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots

Chaotic Motion in a Flexible Rotating Beam and Synchronization

Asymptotic Stability and Chaotic Motions in Trajectory Following Feedback Controlled Robots

Nonlinear Dynamics of a Rotating Flexible Link

Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle

A Novel Prevailing Torque Threaded Fastener and Its Analysis

Redundancy Resolution Using Tractrix: Simulations and Experiments

Redundancy Resolution Using Tractrix—Simulations and Experiments

Special Coordinates Associated With Recursive Forward Dynamics Algorithm for Open Loop Rigid Multibody Systems

Analytical Determination of Principal Twists and Singular Directions in Robot Manipulators

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