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Sangamesh Deepak R
Mechanical Engineering, IIT Guwahati
Assam, India

Academic Profile

Career

April 2013 - Current :
Assistant Professor,
Mechanical Engineering,
Indian Institute of Technology
Guwahati, India

May 2012 - April 2013:
Research Associate,
M2D2 Lab of IISc
Bangalore, India

Education

Phd. , 2012,
Indian Institute of Science,
Bangalore

MSc. (Engg.) , 2006,
Indian Institute of Science,
Bangalore

BE., 2003,
National Institute of Engineering,
Mysore

Expertise

Kinematics and Dynamics of rigid multi-body systems, Static balancing, Structural optimization

Teaching

ME224: Kinematics of Machinery
[2014, 2016, 2017]

ME313: Dynamics of Machinery
[2014, 2015, 2016]

ME101: Engineering Mechanics
[2015]

ME325: Control Systems
[2016]

ME214: Machine Drawing [2014]

Learning

I am augmenting my expertise by learning topics in control systems and electronics to place myself in a position to make contemprorary autonomous robots.

Publications

Journal Articles

  1. Kinematic reasons for smaller lateral sway in triangular-prism scissor linkage. Deepak, Sangamesh R., Singh, Sunil K. Submitted to Mechanism and Machine Theory 2017
  2. Application of Rigid-Body-Linkage Static Balancing Techniques to Reduce Actuation Effort in Compliant Mechanisms . Deepak, Sangamesh R., N., Hansoge Amrith, Ananthasuresh, G. K. ASME Journal of Mechanisms and Robotics 2015
  3. Static balancing of a four-bar linkage and its cognates. Deepak, Sangamesh R., Ananthasuresh, G.K. Mechanism and Machine Theory 2012
  4. Perfect Static Balance of Linkages by Addition of Springs But Not Auxiliary Bodies. Deepak, Sangamesh R., Ananthasuresh, G. K. ASME Journal of Mechanisms and Robotics 2012
  5. James Watt and his linkages. Deepak, Sangamesh R., Ananthasuresh, G. K. Resonance 2009
  6. A Comparative Study of the Formulations and Benchmark Problems for the Topology Optimization of Compliant Mechanisms. Deepak, Sangamesh R., Dinesh, M., Sahu, Deepak K., Ananthasuresh, G. K. ASME Journal of Mechanisms and Robotics 2009
  7. Special Coordinates Associated With Recursive Forward Dynamics Algorithm for Open Loop Rigid Multibody Systems. Deepak, Sangamesh R., Ghosal, Ashitava ASME Journal of Applied Mechanics 2008
  8. A Note on the Diagonalizability and the Jordan Form of the 4 x 4 Homogeneous Transformation Matrix. Deepak, Sangamesh R., Ghosal, Ashitava ASME Journal of Mechanical Design 2006

Conference Papers

  1. Static balancing of Spring-loaded Planar Revolute-joint Linkages without Auxiliary Links. Deepak, Sangamesh, Ananthasuresh, G. K. In 14th National Conference on Machines and Mechanisms 2009
  2. A Global Constraint on Relative Rotation to Avoid Lumped Compliant Mechanisms in Topology Optimization. Deepak, Sangamesh R. In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2008) 2008
  3. A Comparative Study of the Formulations for Topology Optimization of Compliant Mechanisms. Deepak, Sangamesh R., Dinesh, M., Sahu, Deepak, Jalan, Salil, Ananthasuresh, G. K. In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE2008) 2008

Students

PhD students

Sunil Kumar Singh

2013-current

Sunil Kumar Singh is working on design of bamboo based linkages. Problems being addressed include minimization of lateral sway.

Sailen Dutta

2013-current

Sailen Dutta is working on study and implementation of nodal discontinuous finite element method. He is being co-advised with Prof. Anoop K. Dass, IIT Guwahati.

MTech students

Sameer Tadavi

2016-current

Sameer Tadavi is working on prototype demonstration of instability in trailers. Numerical simulation of instability is also planned to be undertaken.

Sooraj Chackao

2014-2015

Sooraj Chackao worked on design of a simple haptic robot. Finite element model of a virtual object was interfaced with a 2-R robot. Visual feedback was successfully demonstrated. Force feedback and related torque control of motors is pending.

BTech students

P. I. Ravikumar and Saanwra Khod

2016-current

Ravikumar and Saanwra Khod are working on algorithms and its hardware implementation for autonomous navigation of a wheeled vehicle.

Independent work

Rohit Suresh Murthy and Aniruddh Yadav

2016-Current

Rohit Suresh Murthy and Aniriddh Yadav are studying path-planning strategies for autonomous robot and implementing it in virtual situations.

Independent work

T.Sai Kishore and V Chandrasekhar

2016-Current

T.Sai Kishore and V Chandrasekhar are aiming to fabricate six-legged parallel manipulator. The also aim to fabricate parts by 3D-printing.

Ronit Shaw

2015-2016

Ronit Shaw worked on modelling and simulation of full-ground-vehicle spatial dynamics.

Naman Kansal and Lokesh Kumar Deswal

2015-2016

Naman Kansal and Lokesh Kumar Deswal worked on non-linear modelling and simulation of quarter car suspension.

Sudhansu Kumar Behera and Zubin Priyansh

2015-2016

Sudhansu Kumar Behera and Zubin Priyansh worked on simulation of robot in ROS (Robot Operating System) and dealt with issue on path-planning and vision. Zubib Priyansh also worked on restoring functionality of an old robot.

Independent work

Tutorials

Following are some of the applets that I made in Geogebra as an aid for teaching ME224: Kinematics of Machinery in IIT Guwahati.

Inversions of linkages

Elliptic trammel and Oldham coupling

Instructions: Slide the green colored "theta" button to see the motion of both elliptic trammel and its inversion, Oldham coupling.



Instantaneous centers

Quick return linkage

Instructions: Perturb I01, the red colored point to visualize finding I14 as a limit. The limiting concept is necessary when following sequence of finding instantaneous centers is adopted: I12, I42 and I41.
When I41 is found in the following sequence: I12, I30, I31 and I41, no limiting concept is necessary. Both the sequences lead to the same I14.



Three position synthesis of four-bar linkage

Two specified circle points

Instructions: Move the green slider to change the configuration of the four-bar linkage. A1-B1, A2-B2 and A3-B3 are the three specified positions of the coupler. Points A and B are also specified to serve as circle point of the four bar linkage. In the synthesized four-bar linkage two branches, "blue" and "green" can be identified. It further appears that "green" branch can take coupler to first two positions whereas "blue" branch can take to third position. However, with the four-bar linkage being a non-Grashof linkage, the two branches can flip over each other at singular configurations. Thus the synthesized four bar linkage can take the coupler through all the three positions without disassembly.



One circle point (A) and one fixed point (C) are specified.

Instructions: Move the green slider to change the configuration of the four-bar linkage. A1-B1, A2-B2 and A3-B3 are the three specified positions of the coupler. Points A is to serve as a circle point of the four bar linkage. POint C at the origin is to serve as a fixed point. The synthesized four-bar linkage wht two branches, "blue" and "green" demonstrate the same characteristic as the previous example.

Properties of involute profile

Two conjugate involute profiles with centers of the base circles maintaining constant fixed distance.

Instructions: The four green sliders are used to move 1) two points on two involute curves and 2) the rotate the involute curves about their respective centers of base circle.



Contact

Address

Dr. Sangamesh Deepak R
Assistant Professor
Mechanical Engineering
Indian Institute of Technology Guwahati
Guwahati, Assam, 781039, India

Email

sangu@iitg.ernet.in

Phone

+91-361-2583432