Recent Developments in Multibody Dynamics

Subir Kumar Saha is Professor in the Department of Mechanical Engineering, Indian Institute of Technology Delhi and Project Director of I-Hub Foundation for Cobotics (Technology Innovation Hub of IIT Delhi). He received his mechanical engineering degree from RE College (now NIT),  Durgapur, India, in 1983, prior to completing his M.Tech. at the IIT  Kharagpur, India, and Ph.D. at McGill University, Canada. After his studies, he joined Toshiba Corporation’s R&D Center in Japan. After four years of work experience in Japan, he has been with IIT  Delhi since 1996. He is actively engaged in teaching, research, and  technology and has completed projects worth several crores of Rupees. He established the Mechatronics Laboratory at the IIT Delhi in 2001, and was Co-Coordinator for the Programme for Autonomous Robotics at IIT Delhi during 2010-16 sponsored by BARC/BRNS Mumbai, which lead to the formation of Centre of Excellence on Biologically Inspired Robots and Drones (BIRD). Recently, he was also instrumental to initiate M. Tech in Robotics at IIT Delhi. In recognition of his international contributions, Prof. Saha was awarded a Humboldt Fellowship by the AvH Foundation, Germany, in 1999. He has been Visiting researcher in Canada, Australia, and Italy. Prof. Saha has authored many research publications in reputed journals/conference proceedings and books, including one text book on Introduction to Robotics supported with an in-house developed RoboAnalyzer software that has been licensed to a company in 2023. Rama Krishna K is Assistant Professor in the department of Mechanical Engineering in the Indian Institute of Technology Delhi. He received his Ph.D. from Indian Institute of Science, Bangalore. His interests are theoretical and applied kinematics, geometric modeling for CAD and manufacturing, dynamics and control of mechanical systems, differential geometry, and additive manufacturing of mechanisms.

• Analytical Method for Determining the Collision-Free Workspace of an Over-Constrained Planar Cable-Driven 3D Printer.- A linear frequency domain solver workflow for fast simulation of transmission systems.- "Multibody Dynamic Study of Subassembly.- Transfer Flask under Seismic Excitation".- A Finite Element Analysis Study on the Effect of Tool Stiffness in Incremental Forming Process.- Mobile Haptic Device for Large Virtual Environments.- Multibody Dynamics Software-based Simulation of a Game for a Robotics Competition.- "Modelling and diagnosis of defects in spur gear under constant speed operation".- Modeling, simulation, optimization of the DLR Scout rover to enable extraterrestrial cave exploration.- Simulation and Control of Shape Memory Alloy Spring Actuator in a Flexible Tube Manipulator.- Design and Control of All Pneumatic Virtual Motion Simulator.- Design of Flexure Robotic Hand for Teleoperation.- Design and Development of a Novel Rotary Actuator based on Shape Memory Alloy and Permanent Magnet System.- Fabrication and Stabilization of Rotary Inverted Pendulum Setup Using a Double PID Controller (STRIPS 1.0).- UAV Landing on General Moving Platforms Without Markers.- Innovative two-axle vehicle with improved ride comfort via blended active vibration control.