Project PortfolioBhushan Darekar

M.Tech Project :- Development and Analysis “Soft Humanoid Robot” made from Flexible Fluidic Actuators and Compliant Links(Spanda)

“Spanda” is an intrinsically safe, first generation soft-humanoid robot. Spanda can be used in human assistactivities such as handling objects of different geometries, an Assistive Companion, a Navigator, a Walk-through Guide, a child-friendly cuddly robot

Skills Used: SOLIDWORKS, FEA, ANSYS, ABACUS, MATLAB, ARDUINO, Embedded System Design, Mold Design, Material Selection, Actuator Design, 3d printing, Electropneumatic System Design, Programming, Rubber/Foam Casting, Laser Cutting, Test Setup Development

Analysis of Flexible Fluidic Actuators and variable stiffness forearm

Skills Used: SOLIDWORKS, FEA, ANSYS

B.E. 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 ofthe wearer. In this project, we developed upper body exoskeleton using pneumatic artificial muscles to achievewearers limbs flexibility. 28 Kg weight is lifted by wearing exoskeleton. The load is distributed on six Artificialmuscles, Images are in reference with after and before actuation of artificial Muscle

Skills Used: SOLIDWORKS, Basic Electronics, Mechanical Design, Actuator Design, Material Selection, Fabrication Techniques, Team Leader

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 bodysuit. Use of PAM and controlenabled joints provides the flexibility of wide movements to the wearer and the system has onboardcomputing unit, battery pack, mini compressor with air storage tanks.

Skills Used: SOLIDWORKS, ANSYS, Joint Design, Fabrication Techniques, Laser Cutting, Actuator Design, ARDUINO, Embedded System Design, Programming, Electropneumatic system Design, Team Leader

Soft Exo Glove using pneumatic artificial muscle (PAM)

“Soft Exo Glove” for physiotherapy assist of stroke patients is developed in the Technocraft competition. In thefirst prototype stack of miniaturized Pneumatic Artificial Muscles with attached tendons were used to move thefingers. In the second prototype, Tendons were replaced by Bowden Cables for better accuracy. Actuationmovement was controlled by manual switching.

Skills Used: ARDUINO, Embedded C, Programming, Electropneumatic System Design, Material Selection,Actuator Design, Mechanical Design, Team Leader

Development of Pneumatic Reinforced Actuator(PRA) and Pneumatic Network Actuator(PNA)

Development of PRA to improve the grasping ability of a user for handling different shape, size objects. 3D printedmold and soft actuators of silicon rubber were developed by casting and tendon reinforcement. To achieve desiredactuation and stiffness of the pneumatic network actuator we used silicone rubber of Shore 30 A. Different sizeactuators were developed to adjust fingers in the Exo glove.

Skills Used: SOLIDWORKS, FEA, Material Selection, Silicone Rubber Casting, Mold Design,3d Printing

Final prototype of “Soft Exo Glove”

Functional Soft Exo glove was developed by using soft pneumatic network actuator and controlled byhaptic signals of users hand. Actuation of fingers is controlled by electro-pneumatic circuit with a maxpressure of 2.5 bar.

Skills Used: SOLIDWORKS, ARDUINO, Embedded C, Electropneumatic System Design, Material Selection,Mechanical Design, Silicone Rubber Casting, Mold Design,3d Printing, Team Leader

A Haptic Palpation Device (HARPAL)

The first prototype of Haptic Palpation device is developed in the Medical device Hackathon Organized by BETIC IITBombay in Pune. The objective of this device is to transfer the sense of touch thus to assist doctors in TelemedicineTherapy. In the final prototype, we achieved to transfer the touch sense wirelessly and also, plot the graphs toexamine pressure variation in Tele-palpation.

Skills Used: SOLIDWORKS, ARDUINO Embedded System Design, Programming, Linear Actuator Design, Material Selection, Silicone Rubber Casting

Development of an Ornithopter (A flying bird)

Our Ornithopter is inspired from Festo Bird, Wings were made up of polyester fabric and carbon fiber rod/tube structure. BLDC motor and gears were mounted on Acrylic Fuselage with onboard Lipo Battery andReceiver to control its maneuverability wirelessly.

Skills Used: SOLIDWORKS, Mechanical Design, Material Selection ARDUINO, Electronics, Laser Cutting, Test Setup Development

Wall Climbing Robot

Design and manufacturing of vacuum technology-based wall climbing robot. It has self-weight of 3.8kgand max payload capacity of 1.5kg. The robot can be used for surveillance, defect detection in metallicstructures, cleaning of vertical facades etc. and controlled by PS2 remote controller.

Skills Used: ARDUINO, Embedded System Design, Programming, Motor Selection, Material Selection

Transforming KUKA robot into a 3D printer

FDM 3D printer is developed using industrial KUKA robot KR6 R900A, Main objective of the project wasto increase the work volume of 3d printer and get better accuracy of the 3d printed parts.

Skills Used: ARDUINO,KUKA Robot Programming, Embedded System Design, RoboDK Programming, Slicer, Material Selection

Remote Controlled Aeroplanes, Dualcopter and Quadcopter

RC Aeroplanes, Dualcopter, Quadcopter were developed as RC hobbyist and demonstrated in thecollege level competition

First Model of Dualcopter (Didn’t FLY)

Skills Used: Electronics, BLDC Controller, Material Selection, Design Ideas, Fabrication Techniques, Flight Controller Programing

TEAM COEP HYPERLOOPTechnical Lead and High Speed Propulsion System head

Team COEP HYPERLOOP participated in Hyperloop Pod competition 2018 organized by SpaceX. We qualifiedfor the design phase among top 47 teams from all over the world. We designed vehicle for max speed of 340kmph. Subsystems ( Propulsion, Magnetic Levitation, Stability, Navigation and Braking)

Skills Used: SOLIDWORKS,CD Nozzle Design, Magnetic Levitation System, Mechatronic System Design, Structure Design, Component Selection, Technical Lead

Magnetic Levitation Setup

We made the Halbach array of neodymium magnets and developed the test setup to get the force values of liftand drag generated on the magnets while Aluminum disc is rotating at a different speed. We did the analysis inFEMM and ANSYS. We further extrapolated the results and used it in the design of magnetic levitation, magneticbraking and magnetic stability system of the hyperloop pod.

Skills Used: Mechanical Design, ARDUINO, Programming, Test Setup Development, Magnet Selection, FEMM,ANSYS

Buffing Machine Prototype

Buffing Machine Prototype is a project developed under DYNA Biotech Industry, Pune and the objectiveof this project is to Develop automated buffing machine to impart multidirectional burnished surfacefinish for metal sheets.

Skills Used: CATIA, SOLIDWORKS,CNC Router, ARDUINO, Material Selection, Embedded System Design, Programming

Self Balancing Robot

Self Balancing Robot is developed as a mini project for the Embedded System Design subject practical. Theobjective of this project is to demonstrate the principle of inverted pendulum and to use the real time controlalgorithm to balance the robot on two wheels.

Skills Used: ARDUINO, Embedded System Design, Components Selection, PID Controller

Bluetooth controlled Robot Odometer using optical mouse

Odometer Robot is developed as mini project to learn the optical mouse interfacing. Objective of theproject is to track position of the robot with respect to user defined coordinate system.

Skills Used: ARDUINO, Embedded System Design, Programming, Basic Electronics

Fire Extinguisher Robot

Fire Extinguisher Robot prototype is working in Autonomous mode has fire detecting sensors, CO2 fireextinguisher, an ultrasonic sensor to avoid collisions and GSM module to send the SMS in case of FireHazard.

Skills Used: ARDUINO, Mechanical Design, Component Selection, Programming, Embedded System Design

Development of Electro Thermal Actuators

The actuator has embedded nichrome wire as a heating element. PNA geometry was used to track the bendingresponse after DC source connecting with the heating element. These actuators were used to study actuation timefor different electrical input and the number of cycles performed before failure.

Skills Used: SOLIDWORKS, Actuator Design,3d Printing, Basic Electronics, Material Selection

Automatic Wine Bottle Opener

Automatic Wine bottle opener is developed for New product Design Concept. The objective of thisproject is to remove the quark cap automatically when the bottle is sensed by the proximity sensor.

Skills Used: ARDUINO, Design Idea, Mechanical Design, CNC Router