2023 ASEE Annual Conference & Exposition

Machine-Learning Driven Robot-Motion Design: Introducing a Web-Based Mechanism Design Software

Presented at Mechanical Engineering Division (MECH) Technical Session 15: Automation and Machine Learning

This paper presents a novel machine-learning-driven web-based software, which enables the design and simulation of planar N-bar single and multi-degree-of-freedom linkage mechanisms for robotics and mechatronics applications.
The software is developed using research methodologies to create a new computational framework for simultaneous type and dimensional synthesis of mechanisms for motion generation problems. The existing paradigm of selecting the type of a mechanism and then computing the dimension is shown to be inadequate in meeting the requirements of designers. Therefore, a new data-driven approach is proposed in which both the type and dimensions of a mechanism are computed directly from the user input, i.e., motion or path. While a formal assessment of the software in a classroom setting is pending, this paper outlines its broad applicability to support the learning outcomes of several mechanical engineering classes, including freshman engineering design, engineering dynamics, kinematics of machinery, computer-aided mechanism design, robotics, and mechatronics. The software is suitable for a wide range of engineering levels, from freshman engineering to advanced kinematics and robotics classes, and has been adopted by numerous universities and organizations for their mechanical engineering programs.

Authors

Prof. Anurag Purwar http://orcid.org/0000-0002-1755-470X Stony Brook University [biography]

Dr. Anurag Purwar is an Assistant Professor in the Mechanical Engineering department at Stony Brook University. His research interests are in bringing together rigid body kinematics and machine learning for design of mechanisms and robots. He has published 82 peer-reviewed conference and journal papers and his research has been funded by National Science Foundation (NSF), NY-state SPIR, NY-state Center for Biotechnology, Sensor-CAT, SUNY Research Foundation, industry, Stony Brook University, and SUNY Office of Provost.

He received A.T. Yang award for the best paper in Theoretical Kinematics at the 2017 ASME Mechanisms and Robotics Conference and the MSC Software Simulation award for the best paper at the 2009 ASME International Design Engineering Technical Conferences (IDETC) . He is the recipient of the Presidential Award for Excellence in Teaching by Stony Brook University and the winner of the 2018 FACT2 award for Excellence in Instruction given to one professor from the entire SUNY system. He also received the 2021 Distinguished Teaching Award from the American Society of Engineering Education (ASEE) Mid-Atlantic Division.

He has been twice elected as a member of the ASME Mechanisms and Robotics committee and served as the Program Chair for the 2014 ASME Mechanisms and Robotics Conference, as the Conference Chair for the 2015 ASME Mechanisms and Robotics Conference and has served as symposium and session chairs for many ASME International Design Engineering Technical Conferences. He was the general Conference Co-Chair for the 2016 ASME International Design Engineering Technical Conferences (IDETC/CIE).

He won a SUNY Research Foundation Technology Accelerator Fund (TAF) award, which enabled him to develop a multifunctional Sit-to-Stand-Walker assistive device (http://www.mobilityassist.net) for people afflicted with neuromuscular degenerative diseases or disability. The technology and the patent behind the device has been licensed to Biodex Medical Systems for bringing the device to institutional market. The device won the SAE Top 100 Create the Future Award in 2016. Dr. Purwar gave a TEDx talk on Machine Design Innovation through Technology and Education (https://www.youtube.com/watch?v=iSW_G0nb11Q) which focused on enabling democratization of design capabilities, much needed for invention and innovation of machines by uniting the teaching of scientific and engineering principles with the new tools of technology. Five of his patented inventions have been successfully licensed to the companies world-wide.

Dr. Purwar is an elected member of the ASME Mechanisms and Robotics Committee and a senior member of the National Academy of Inventors (NAI). He is currently an Associate Editor of the ASME Journal of Computing and Information Science in Engineering and of International Journal of Mechanics Based Design of Structures and Machines.

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