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Journal Articles

Technology Interventions in Rural India by an Academic Institute: Challenges and Mitigation Strategies

Yashwant Prasad, Suraj Bhat, Subir Kumar Saha, M. R. Ravi, Pramod Khadilkar
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2025, 147(7): 071402.
Paper No: MD-24-1472
https://doi.org/10.1115/1.4067479
Published Online: January 15, 2025
View Article titled, Technology Interventions in Rural India by an Academic Institute: Challenges and Mitigation Strategies
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Topics: Design, Teams, Sustainability
Proceedings Papers

Task Modification Scheme for a Collaborative Robot

Hardeep Singh, Rajesh Kumar, Subir Kumar Saha
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A075, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89720
https://doi.org/10.1115/DETC2022-89720
View Paper titled, Task Modification Scheme for a Collaborative Robot
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Topics: Robots, Sliding mode control, Algorithms, Control equipment, End effectors, Human dynamics, Ignorance, Trajectories (Physics), Dynamics (Mechanics), Inertia (Mechanics)
Proceedings Papers

The Formulation of Kinematic Constraints in Design-Oriented Machine Dynamics

Subir Kumar Saha, Jorge Angeles
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 115-122, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0111
https://doi.org/10.1115/DETC1991-0111
View Paper titled, The Formulation of Kinematic Constraints in Design-Oriented Machine Dynamics
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Topics: Design, Kinematics, Machine dynamics, Dynamic analysis, Dynamic modeling, Machinery, Simulation
Journal Articles

Optimum Design of Serial Robots

Vinay Gupta, Subir Kumar Saha, Himanshu Chaudhary
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. August 2019, 141(8): 082303.
Paper No: MD-18-1552
https://doi.org/10.1115/1.4042623
Published Online: April 18, 2019
View Article titled, Optimum Design of Serial Robots
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Topics: Design, Robots, Inertia (Mechanics), Optimization
Proceedings Papers

Denavit-Hartenberg Parameters of Euler-Angle-Joints for Order (N) Recursive Forward Dynamics

Suril Shah, Subir Kumar Saha, Jatyanta Kumar Dutt
Proc. ASME. IDETC-CIE2009, Volume 4: 7th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B and C, 115-120, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87017
https://doi.org/10.1115/DETC2009-87017
View Paper titled, Denavit-Hartenberg Parameters of Euler-Angle-Joints for Order (N) Recursive Forward Dynamics
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Topics: Dynamics (Mechanics), Algorithms, Chain, Degrees of freedom, Dimensions, Inertia (Mechanics), Multibody systems, Rotation, Scalars
Proceedings Papers

Equimomental System and Its Applications

Himanshu Chaudhary, Subir Kumar Saha
Proc. ASME. ESDA2006, Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology, 33-42, July 4–7, 2006
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2006-95066
https://doi.org/10.1115/ESDA2006-95066
View Paper titled, Equimomental System and Its Applications
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Topics: Bearings, Equations of motion, Machinery, Optimization, Performance characterization
Journal Articles

Constraint Wrench Formulation for Closed-Loop Systems Using Two-Level Recursions

Himanshu Chaudhary, Subir Kumar Saha
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 2007, 129(12): 1234–1242.
https://doi.org/10.1115/1.2779890
Published Online: January 12, 2007
View Article titled, Constraint Wrench Formulation for Closed-Loop Systems Using Two-Level Recursions
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Topics: Algorithms, Closed loop systems, Cutting, Equations of motion, Machinery, Dynamics (Mechanics), Computation, Multibody systems
Journal Articles

Inverse Dynamics Algorithm for Space Robots

Subir Kumar Saha
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. September 1996, 118(3): 625–629.
https://doi.org/10.1115/1.2801191
Published Online: September 1, 1996
View Article titled, Inverse Dynamics Algorithm for Space Robots
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Topics: Algorithms, Dynamics (Mechanics), Robots, Kinematics, Dynamic models, Manipulators, Momentum, Space vehicles
Journal Articles

Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement

Subir Kumar Saha, Jorge Angeles
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research Papers
J. Appl. Mech. March 1991, 58(1): 238–243.
https://doi.org/10.1115/1.2897157
Published Online: March 1, 1991
View Article titled, Dynamics of Nonholonomic Mechanical Systems Using a Natural Orthogonal Complement
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Topics: Dynamics (Mechanics), Automated guided vehicles, Disks