Executive Summary : | Actuators in industrial applications need to be robust and automated for high load carrying especially in difficult terrain. But the automation of robotic arms in unstructured environment is challenging task due to high computational requirement of precision force to overcome collision effect. Series elastic actuator (SEA) with its unique working principle provides solutions to these challenges by adding elastic element such as spring to overcome impact/shock effect and rigid element such as gear for high torque transmission. Hence, high rigidity and high flexibility are two contradicting requirements for design and development of series elastic actuator unit which needs to be study thoroughly. Besides, there is need for internet of things (IoT) and digital twin of SEA unit which will help in distanced controlling and handling of shop floor situated in noisy, unsafe and unhealthy environment. Scientific objective of the research:- In the present project an attempt will be made to improve performance of SEA unit by incorporating newly designed double helical harmonic drive to boost power transmission. Different possible compliance elements such as helical spring will be added to bring flexibility in structure along with adaptive control system and sensors in a sequence for proper controlling of unit in difficult environment. At last, both digital and physical model will be connected with IoT and digital twin concept will be investigated. Hypothesis/model to be tested:- Multibody dynamic analysis will be performed on CAD model of proposed SEA unit for its design verification. Basic parametric study will be performed on proposed digital model of SEA unit in MATLAB Simscape/Simulink environment. Graphical user interface (GUI) will be developed for connecting the 3D virtual model of proposed SEA with IoT. Experiments to be carried out:- Knowledge obtain from digital model of SEA unit will be implemented further in designing, fabrication and mechanical behaviour analysis of physical model of proposed SEA unit. Development of control system and inclusion of different sensors in physical model of proposed SEA unit and its practical validation also will be done. Like digital model, graphical user interface (GUI) will be developed for connecting the physical model of proposed SEA with IoT. Investigation will be extended further in development of working model of digital twin of SEA unit. Significance to the field of research:- Successful implementation of digital twin concept in SEA unit will form the basis of industry 4.0. Satisfactorily performance of SEA unit in difficult terrain will open the door of further implementation of digital twin concept in mechanical power transmission instruments such mechanical crane, robotics arms in heavy machinery and construction equipment. |