Project Portfolio

By Bhushan Darekar

121694005

MTech Mechatronics

Department of Production Engineering and Industrial Management

College of Engineering Pune

Mtech Project :- Development and Analysis “Soft Humanoid

Robot” made from Flexible Fluidic Actuators and Compliant

Links(Spanda)

Spanda is an intrinsically safe and first generation of soft-humanoid robot capable to be

used in human assisting functions such as handling objects of different sizes and shapes,

as an Assistive Companion, a Navigator, a Walk-through Guide, a child-friendly cuddly

robot, etc.

Analysis of Flexible Fluidic Actuators

and variable stiffness forearm

BTech Project:-Compressed air powered “Human

Exoskeleton Suit” for Material handling and disaster

management

Exoskeleton suit is used to amplify/assist the motion that implies enhancing the strength,

speed and capabilities of the wearer. In this project we developed pneumatic artificial

muscles to achieve flexibility of limbs in human exoskeleton system. 28 Kg weight is lifted

by wearing exoskeleton and load is distributed on six Artificial muscles, Images are in

reference with actuation of Artificial Muscle and after deflating actuators

DRUSE 2018 :-Compressed Air Powered Human Exoskeleton

Suit(2nd runner up winner in National Level)

Flexible exoskeleton suit with powered upper body and passive lower body suit. Use

of PAM and control enabled joints provides flexibility of wide movements to wearer

and system has on board computing ,battery pack, mini compressor with air storage

tanks.

Medha 2017- Haptic Palpation Device (HARPAL)

Haptic Palpation device has been made in the Medha ( Medical device

Hackathon) Organized by BETIC COEP in Pune. Objective of this device is

to transfer sense of touch thus to assist doctors in Telemedicine Therapy.

New prototype of “ HARPAL ”

HARPAL is the name of Haptic palpation device that means every time

with you. Objective of this prototype is to transfer sense of touch

wirelessly and also plot the graphs to examine pressure variation in Tele-

palpation.

ABP maza news link :

https://www.youtube.com/watch?v=4uXnUvSlYXg&feature=youtu.be

TEAM COEP HYPERLOOPTechnical Lead and High Speed Propulsion System head

Team COEP HYPERLOOP participated in Hyperloop Pod competition 2018 organized by SpaceX.

Qualified for the design phase among top 47 teams from all over the world. We designed vehicle

to achieve speed 340 kmph with successful Propulsion, Magnetic Levitation, Stability, Navigation

and Braking.

Technocraft project :- Soft Exo Glove Using PAM Prototypes

“Soft arm exoskeleton” for physiotherapy assists of stroke patient.Developed For

Technocraft competition held at CoEP, 2017

In the first prototype Stack of Pneumatic Artificial Muscles were made and Tendons

are used to move the fingers and controlled by manual Switching.In the second

prototype Tendons are replaced by Brake Cables for better accuracy in movement

controlled by manual switching and tested.

Development of Pneumatic Reinforced Actuator(PRA) and

Pneumatic Network Actuator(PNA)

Development of PRA to improve the accuracy of grasping the different shape and size

objects.3D printed mold were made and silicon rubber based soft actuators are developed

using casting and tendon reinforcement. In Development of PNA silicone rubber of higher

hardness value is used to get the better actuation and stiffness of the actuator , Different

size of actuator were developed for the Exo glove and the same glove can be used to

make compliant gripper

Final model of “Soft Exo Arm”

Functional Soft Exo glove is developed by using soft pneumatic network actuator hand

and controlled by using haptic signal of users hand. Compressed air of pressure 2.5 bar

is used and actuation of fingers is controlled by electro-pneumatic circuit.

Electro Thermal Actuators

Designed molds and cast the electrothermal actuator using PDMS(Polydimethylsiloxane)

and ethyl alcohol, acetone. The actuator has embedded thermal heating element

(nichrome). Actuator response to the heating of nichrome wire and produce bending as

same as pneumatic network actuators. These actuators were used to study the behavior

of the actuator such as a number of cycles performed before failure, actuation time for

different electrical input.

Transforming KUKA robot into a 3D printer

3D printer is developed using industrial KUKA robot KR6 R900, Main objective of the

project is to increase the work volume of 3d printer and get better accuracy of the

printed parts. Software used are RoboDK, Slicer and Kuka Robotic Language

Development of Ornithopter

Ornithopter is a flying bird inspired from Festo Bird has wings made up of polyester fabric and

carbon fiber. BLDC motor and gears are mounted on Acrylic Fuselage with on board Lipo Battery

and Receiver to control it wirelessly.

Remote Controlled Aero plane

RC Aero planes, Dual copter, Quadcopter are developed as RC hobbyist and

demonstrated in the college level competition

First Model of

Dualcopter (Didn’t FLY)

Wall Climbing Robot

Design and manufacturing of vacuum technology-based wall roof traversing robot. It

has self-weight of 3.8kg and payload capacity of 1.5kg. The robot can be used for

surveillance, defect detection in metallic structures, cleaning of vertical facades etc.

and controlled by PS2 remote controller.

Bluetooth controlled Robot Odometer using

optical mouse

Odometer Robot is developed as mini project to learn the optical mouse

interfacing and also objective of the project is to track position of the

robot with respect to user defined coordinate system.

Magnetic Levitation Setup

We made the Halbach array of neodymium magnets, build the test setup to get the force

values of lift and drag generated on the magnets while nonferrous conducting (Aluminum)

disc is rotating at different speed. We did the analysis in FEMM and ANSYS. We further

extrapolated the results got from this setup and used it in the design of magnetic

levitation, magnetic braking and magnetic stability system of the hyperloop pod.

Automatic Wine Bottle Opener

Automatic Wine bottle opener project is developed for the

concept of New product Design. Objective of the project is to

remove the quark cap automatically when bottle is sensed by the

proximity sensor.

Self Balancing Robot

Self Balancing Robot is developed as mini project for the Embedded System

Design subject practical. Objective of the project is to demonstrate the

principle of inverted pendulum and to use the real time control algorithm to

balance the robot on two wheels.

Fire Extinguisher Robot

Fire Extinguisher Robot prototype is working in Autonomous mode has fire detecting sensors,CO2

fire extinguisher, ultrasonic sensor to avoid collisions and GSM module to send the SMS in case of

Fire Hazard.

Buffing Machine Prototype

Buffing Machine Prototype is project done under DYNA Biotech company

and the objective of this project is to Develop automated buffing machine

to impart multidirectional burnished surface finish for sheets.

Thank you !

bhushan.138@gmail.com

darekarbj16.mecha@coep.ac.in