Publications

2023

1. 

   Trajectory tracking of 4-DOF robot manipulator: a bond graph approach

   Rajmeet Singh, Manvir Singh Lamba, and Tarun Kumar Bera

   International Journal of Mechatronics and Automation, Apr 2023

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   This research work presents the design of a position control algorithm for trajectory tracking of a four-degree-of-freedom robotic manipulator. The linkage mechanism of the manipulator is based on a parallelogram mechanism and in this manipulator, three parallelogram mechanisms are used. First, the CAD and the kinematic model of the manipulator are developed. The bond graph (BG) approach is applied to develop the dynamic model of the robotic arm based on kinematic equations. The BG model of parallelogram linkage is then compared with the Simulink model of parallelogram linkage and results are validated. Then, a position control algorithm is proposed to follow a set of trajectory planning applications. A GRBL-Arduino based controller is used to estimate the position of the end-effector as per the user’s requirements. The simulation and experimentation work are performed for 3D trajectory tracking applications. The robotic arm is used for pick and place operation within the workspace.

   @article{IJMA.2022.130398,
     title = {Trajectory tracking of 4-DOF robot manipulator: a bond graph approach},
     author = {Singh, Rajmeet and Lamba, Manvir Singh and Bera, Tarun Kumar},
     journal = {International Journal of Mechatronics and Automation},
     volume = {9},
     issue = {4},
     pages = {180-191},
     numpages = {0},
     year = {2023},
     month = apr,
     publisher = inderscience,
     doi = {10.1504/IJMA.2022.130398},
     url = {https://www.inderscienceonline.com/doi/abs/10.1504/IJMA.2022.130398},
     dimensions = {true},
   }

2022

1. 

   A Review of Smart Condition Monitoring System for Gearbox

   Manvir Singh Lamba, Amandeep Singh, and J. Ramkumar

   In Advances in Forming, Machining and Automation, Oct 2022

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   Gears are the most critical and commonly used machine elements. They are used for a variety of applications throughout various industries like energy, aerospace, transportation, mining, agriculture, manufacturing, etc. The failure of gear may result in cataclysmic shutdowns causing significant production, economic losses and even human casualties. Fault diagnosis is an important component of condition-based maintenance and it has gained much attention for the safe operation of the gearboxes. But in many applications, fault diagnosis is not accurate. Sensor-based condition monitoring systems help in enhancing the quality of measurement data. A lot of research has been done in developing machine learning algorithms and models to extract information of fault status from the sensor data. Data acquisition of the meaningful sensor data from the gearbox is an open challenge. This makes the estimation of the remaining useful time of gearbox more challenging. This paper presents a literature review of the different IoT-based techniques used to acquire health status data from the gearbox.

   @inproceedings{10.1007/978-981-19-3866-5_35,
     author = {Singh Lamba, Manvir and Singh, Amandeep and Ramkumar, J.},
     editor = {Dixit, Uday S. and Kanthababu, M. and Ramesh Babu, A. and Udhayakumar, S.},
     title = {A Review of Smart Condition Monitoring System for Gearbox},
     booktitle = {Advances in Forming, Machining and Automation},
     year = {2022},
     month = oct,
     publisher = {Springer Nature Singapore},
     address = {Singapore},
     pages = {417--433},
     isbn = {978-981-19-3866-5},
     doi = {https://doi.org/10.1007/978-981-19-3866-5_35},
     url = {https://link.springer.com/chapter/10.1007/978-981-19-3866-5_35},
   }