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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011009.
Paper No: JMR-22-1492
https://doi.org/10.1115/1.4062176
Published Online: April 10, 2023
View Article titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators Considering Five Degrees-of-Freedom
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Topics: Design, Manipulators, Isotropy, Degrees of freedom
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89173
https://doi.org/10.1115/DETC2022-89173
View Paper titled, Design of Decoupled and Dynamically Isotropic Parallel Manipulators With Five Degrees of Freedom
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5958
https://doi.org/10.1115/DETC98/MECH-5958
View Paper titled, Singularity and Controllability Analysis of Parallel Manipulators
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5967
https://doi.org/10.1115/DETC98/MECH-5967
View Paper titled, Differential Geometric Analysis of Singularities of Point Trajectories of Serial and Parallel Manipulators
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5884
https://doi.org/10.1115/DETC98/MECH-5884
View Paper titled, A Dual Ellipse Is a Cylindroid
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8659
https://doi.org/10.1115/DETC99/DAC-8659
View Paper titled, Model Reference Learning Control for Rigid Robots
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2001/DAC-21024
https://doi.org/10.1115/DETC2001/DAC-21024
View Paper titled, Analysis of Finite Self Motion and Finite Dwell in Closed-Loop Mechanisms and Parallel Manipulators
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061004.
Paper No: JMR-19-1015
https://doi.org/10.1115/1.4044539
Published Online: October 10, 2019
View Article titled, A Soft-Robotic End-Effector for Independently Actuating Endoscopic Catheters
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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
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. July 2018, 13(7): 074501.
Paper No: CND-17-1524
https://doi.org/10.1115/1.4040022
Published Online: May 17, 2018
View Article titled, Robustness Analysis of a Simple and Augmented Proportional Plus Derivative Controller in Trajectory Following Robots Using the Floquet Theory
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041003.
Paper No: JMR-17-1221
https://doi.org/10.1115/1.4039001
Published Online: April 13, 2018
View Article titled, Workspace of Multifingered Hands Using Monte Carlo Method
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041010.
Paper No: JMR-16-1208
https://doi.org/10.1115/1.4036571
Published Online: May 15, 2017
View Article titled, Trajectory Planning and Obstacle Avoidance for Hyper-Redundant Serial Robots
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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
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Nonlinear Dynam. July 2017, 12(4): 044505.
Paper No: CND-16-1537
https://doi.org/10.1115/1.4035825
Published Online: February 8, 2017
View Article titled, Chaotic Motion in a Flexible Rotating Beam and Synchronization
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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
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. September 2016, 11(5): 051012.
Paper No: CND-15-1325
https://doi.org/10.1115/1.4032389
Published Online: February 3, 2016
View Article titled, Asymptotic Stability and Chaotic Motions in Trajectory Following Feedback Controlled Robots
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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
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. November 2015, 10(6): 061014.
Paper No: CND-14-1151
https://doi.org/10.1115/1.4028929
Published Online: November 1, 2015
View Article titled, Nonlinear Dynamics of a Rotating Flexible Link
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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
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. December 2014, 8(4): 041011.
Paper No: MED-13-1273
https://doi.org/10.1115/1.4028420
Published Online: October 13, 2014
View Article titled, Experimental Characterization and Control of Miniaturized Pneumatic Artificial Muscle
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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
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. October 2013, 135(10): 101007.
Paper No: MD-12-1435
https://doi.org/10.1115/1.4024977
Published Online: September 5, 2013
View Article titled, A Novel Prevailing Torque Threaded Fastener and Its Analysis
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86934
https://doi.org/10.1115/DETC2009-86934
View Paper titled, Redundancy Resolution Using Tractrix: Simulations and Experiments
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031013.
https://doi.org/10.1115/1.4001777
Published Online: July 23, 2010
View Article titled, Redundancy Resolution Using Tractrix—Simulations and Experiments
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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
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research Papers
J. Appl. Mech. September 2008, 75(5): 051003.
https://doi.org/10.1115/1.2936923
Published Online: July 2, 2008
View Article titled, Special Coordinates Associated With Recursive Forward Dynamics Algorithm for Open Loop Rigid Multibody Systems
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/DAC-48819
https://doi.org/10.1115/DETC2003/DAC-48819
View Paper titled, Analytical Determination of Principal Twists and Singular Directions in Robot Manipulators
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Topics: Manipulators, Computation, Degrees of freedom, Eigenvalues, End effectors, Kinematics