Swaminath Venkateswaran obtained his Doctorate of Philosophy with honours in Mechanical Engineering from Ecole Centrale de Nantes, France in 2020. His PhD research was focused on the design of an inspection robot for industrial pipelines. During his PhD, he also worked as a lecturer in Mechanical Engineering at Ecole Centrale de Nantes, France. From September 2020 till early 2022, he worked as a Teaching & Research Associate (ATER) and as a research member at Grenoble Institute of Technology (Grenoble-INP), France. His research areas/expertise include Product design & analysis, Kinematics of mechanisms, Control of robots, Cobots for circular economy, Industry 4.0. Currently, Swaminath works as an Associate Professor (Enseignant-Chercheur) at the Leonard da Vinci engineering school (ESILV), Paris. His teaching activities are centred around the domain of Mechatronics and Industrial engineering for the Bachelors's & Master's levels. His research activities are affiliated with the group "Modeling" of the Da Vinci Research Center (DVRC).
swaminath.venkateswaran@devinci.fr
Swaminath Venkateswaran; Damien Charles Chablat
Mapping the Tilt & Torsion angles for a 3-SPS-U parallel mechanism Journal Article
In: Robotics, vol. 12, no. 2, pp. 50, 2023.
@article{venkateswaran_2256,
title = {Mapping the Tilt & Torsion angles for a 3-SPS-U parallel mechanism},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://www.mdpi.com/2218-6581/12/2/50},
year = {2023},
date = {2023-03-01},
journal = {Robotics},
volume = {12},
number = {2},
pages = {50},
abstract = {This article presents the analysis of a parallel mechanism of type 3-SPS-U. The usual singularity approach is carried out with respect to the Euler angles of the universal joint. However, this approach is computationally expensive especially when stacked structures are analyzed. Thus, the positioning of the mobile platform for the mechanism is analyzed using the theory of Tilt & Torsion (T&T). The singularity-free workspace and the tilt limits of the mechanism are disclosed through this method. These workspaces can then be mapped to the Euler angles of the universal joint and the relation between the T & T space and the Euler space is demonstrated and validated in this study. Initially, simulations are performed using the results of singularity analysis to have a comparison between the T&T space and the Euler space. Experimental validation is then carried out on the prototype of the mechanism to perform a circular trajectory, in line with the simulations. The outcome of this study will be helpful for the integration of the mechanism for a piping inspection robot and also for the analysis of stacked architectures.},
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Swaminath Venkateswaran; Damien Charles Chablat
Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot Journal Article
In: Computer Methods In Biomechanics And Biomedical Engineering, vol. 25, no. 1, pp. 300-302, 2022.
@article{venkateswaran_2384,
title = {Stability analysis of tensegrity mechanism coupled with a bio-inspired piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://www.tandfonline.com/doi/abs/10.1080/10255842.2022.2116885},
year = {2022},
date = {2022-10-01},
journal = {Computer Methods In Biomechanics And Biomedical Engineering},
volume = {25},
number = {1},
pages = {300-302},
abstract = {Piping inspection robots play an essential role for industries as they can reduce the human effort and pose lesser risker to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France. This rigid prototype helped in identifying the static forces required to accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preloading along the cables, which ensured the stability of the entire robot. However, under static conditions, there exists some forces on the robot,especially on the tensegrity mechanism when one end of the leg mechanisms is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of stiffness of thespring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.},
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Swaminath Venkateswaran; Damien Charles Chablat; Pol Hamon
An optimal design of a flexible piping inspection robot Journal Article
In: Journal Of Mechanisms And Robotics-Transactions Of The Asme, vol. 13, no. 3, pp. 035002, 2021.
@article{venkateswaran_1788,
title = {An optimal design of a flexible piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Pol Hamon},
url = {https://asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/13/3/035002/1096922/An-Optimal-Design-of-a-Flexible-Piping-Inspection},
year = {2021},
date = {2021-06-01},
journal = {Journal Of Mechanisms And Robotics-Transactions Of The Asme},
volume = {13},
number = {3},
pages = {035002},
abstract = {This study presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition of tensegrity mechanisms between the motor modules, the mobile robot becomes flexible to pass through the bends. However, the existing motor units prove to be oversized for passing through pipe bends at 90 deg. Thus, three cascading optimization problems are presented in this article to determine the sizing of robot assembly that can overcome such pipe bends. The first problem deals with the identification of design parameters of the tensegrity mechanism based on static stability. Followed by that, in the second problem, the optimum design parameters of the robot modules are determined for the robot assembly without the presence of leg mechanisms. The third problem deals with the determination of the size of the leg mechanism for the results of the two previous optimization problems. A digital model of the optimized robot assembly is then realized using cad software.},
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Damien Charles Chablat; Guillaume Michel; Philippe Bordure; Swaminath Venkateswaran; Ranjhan Jha
In: Mechanism And Machine Theory, vol. 157, no. 3, pp. 104224, 2021.
@article{chablat_1789,
title = {Workspace analysis in the design parameter space of a 2-dof spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery},
author = {Damien Charles Chablat and Guillaume Michel and Philippe Bordure and Swaminath Venkateswaran and Ranjhan Jha},
url = {https://www.sciencedirect.com/science/article/pii/S0094114X20304419},
year = {2021},
date = {2021-03-01},
journal = {Mechanism And Machine Theory},
volume = {157},
number = {3},
pages = {104224},
abstract = {During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space. This mechanism is composed of three legs (2USP-U) to connect the base to a moving platform connected to a double parallelogram to create a remote center of motion (RCM). Its kinematic properties, i.e. the singularity locus and the number of direct kinematic solutions, are investigated. For some design parameters, non-singular assembly modes changing trajectories may exist and have to be investigated inside the prescribed regular workspace shape. Two sets of design parameters are presented with their advantages and disadvantages.},
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Damien Charles Chablat; Erika Ottaviano; Swaminath Venkateswaran
Self-motion conditions for a 3-PPPS parallel robot with delta-shaped base Journal Article
In: Mechanism And Machine Theory, vol. 135, no. 5, pp. 109-114, 2019.
@article{chablat_1791,
title = {Self-motion conditions for a 3-PPPS parallel robot with delta-shaped base},
author = {Damien Charles Chablat and Erika Ottaviano and Swaminath Venkateswaran},
url = {https://www.sciencedirect.com/science/article/pii/S0094114X18320834},
year = {2019},
date = {2019-05-01},
journal = {Mechanism And Machine Theory},
volume = {135},
number = {5},
pages = {109-114},
abstract = {This paper presents the self-motion conditions of the 3-PPPS parallel robot with an equilateral mobile platform and an equilateral-shaped base. The study of the direct kinematic model shows that this robot admits self-motion of the Cardanic type as the 3-RPR planar parallel robot where the first revolute joint of each leg is actuated or the PamINSA parallel robot. This property explains why the direct kinematic model admits an infinite number of solutions in the center of the workspace but has never been studied until now. The condition of this singularity is described and the location of the self-motion in the workspace with respect to all the singularities is then presented. The quaternion parameters are used to represent the singularity surfaces and the self-motion conditions in the workspace.},
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Swaminath Venkateswaran; Damien Charles Chablat; Frédéric Boyer
Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot Journal Article
In: Robotics, vol. 8, no. 2, pp. 32, 2019.
@article{venkateswaran_1790,
title = {Numerical and Experimental Validation of the Prototype of a Bio-Inspired Piping Inspection Robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Frédéric Boyer},
url = {https://www.mdpi.com/2218-6581/8/2/32},
year = {2019},
date = {2019-04-01},
journal = {Robotics},
volume = {8},
number = {2},
pages = {32},
abstract = {Piping inspection robots are of greater importance for industries such as nuclear, chemical and sewage. Mechanisms having closed loop or tree-like structures can be employed in such pipelines owing to their adaptable structures. A bio-inspired caterpillar type piping inspection robot was developed at Laboratoire des Sciences du Numérique de Nantes (LS2N), France. Using DC motors and leg mechanisms, the robot accomplishes the locomotion of a caterpillar in six-steps. With the help of Coulomb's law of dry friction, a static force model was written and the contact forces between legs of robot and pipeline walls were determined. The actuator forces of the DC motors were then estimated under static phases for horizontal and vertical orientations of the pipeline. Experiments were then conducted on the prototype where the peak results of static force analysis for a given pipe diameter were set as threshold limits to attain static phases inside a test pipeline. The real-time actuator forces were estimated in experiments for similar orientations of the pipeline of static force models and they were found to be higher when compared to the numerical model.},
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Damien Charles Chablat; Swaminath Venkateswaran; Frédéric Boyer
Mechanical Design Optimization of a Piping Inspection Robot Journal Article
In: Procedia CIRP, vol. 70, no. 5, pp. 307-312, 2018.
@article{chablat_1793,
title = {Mechanical Design Optimization of a Piping Inspection Robot},
author = {Damien Charles Chablat and Swaminath Venkateswaran and Frédéric Boyer},
url = {https://www.sciencedirect.com/science/article/pii/S2212827118300799},
year = {2018},
date = {2018-05-01},
journal = {Procedia CIRP},
volume = {70},
number = {5},
pages = {307-312},
abstract = {The piping inspection for security or sealing checking is an important challenge when the internal diameter of the pipe is small with respect to its length. Some mechanisms using closed loops are able to generate contact forces and deployable structures. By using bio-inspired design, we present a mechanism which is able to move inside pipes by mimicking the motion of a caterpillar. The mechanism is composed of three sections, one for the motion and two with legs that are attached with the inner part of the pipe. A compliant mechanism is proposed to add mobility between the three sections of the robot in order to cross the singularity of the pipe. The results coming from a multi-objective optimization process is used to set the geometric and kinematic parameters of the mechanism taking into account the environmental and design constraints. A mechatronic system is proposed that uses industrial components namely DC motors, ball-screws and servo controllers which can be inserted in the pipe. For horizontal and vertical motions, the contact forces and the motor torques are computed to check the feasibility of the clamping. A prototype made at Laboratoire des Sciences du Numérique de Nantes (LS2N) is used to show the behavior of this concept for slow motions.},
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Swaminath Venkateswaran
Un robot bio-inspiré pour l'inspection des canalisations Conference
Biomim'expo 2022, Paris, France, 2022.
@conference{venkateswaran_2279,
title = {Un robot bio-inspiré pour l'inspection des canalisations},
author = {Swaminath Venkateswaran},
url = {https://www.youtube.com/watch?v=vRXUEnpLvsk&t=776s},
year = {2022},
date = {2022-11-01},
booktitle = {Biomim'expo 2022},
address = {Paris, France},
abstract = {Les robots d'inspection de canalisations jouent un rôle important dans des industries telles que le nucléaire, la chimie et les eaux usées. Ils peuvent opérer avec précision dans un environnement irradié ou pollué, réduisant ainsi les risques pour les humains. Ce travail commence par l'étude du cas d'un robot d'inspection bio-inspiré rigide qui a été développé au LS2N, France pour AREVA. Des modèles statiques et dynamiques sont développés pour comprendre les forces de serrage et les couples des actionneurs du robot. Des validations expérimentales sont également effectuées sur le prototype pour interpréter les forces d'actionnement en temps réel. Pour améliorer sa mobilité, l'architecture du robot est rendue flexible par l'ajout d'un mécanisme de tenségrité. Deux types de mécanismes de tenségrité sont proposés et analysés avec des méthodes algébriques pour comprendre leurs limites d'inclinaison et pour connaître l'influence des paramètres de conception. Des expériences sont réalisées sur l'un des prototypes des mécanismes de tenségrité développés au LS2N avec deux types de trajectoire en positions horizontale et verticale. Ensuite, une optimisation est réalisée pour identifier les moteurs qui peuvent permettre du robot d'inspection de canalisation flexible de passer les coudes et les jonctions pour une plage donnée de diamètres de tuyaux. Une maquette numérique du robot flexible est réalisée dans un logiciel de CAO.},
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Swaminath Venkateswaran; Damien Charles Chablat
Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot Conference
47ème congrès de la Société de Biomécanique, Monastir, Tunisie, 2022.
@conference{venkateswaran_1843,
title = {Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://arxiv.org/ftp/arxiv/papers/2206/2206.01433.pdf},
year = {2022},
date = {2022-10-01},
booktitle = {47ème congrès de la Société de Biomécanique},
address = {Monastir, Tunisie},
abstract = {Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France. This rigid prototype helped in identifying the static forces required to
accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preload of the cables, which ensured the stability of the entire robot. However, under static conditions, there exist some forces on the robot,
especially on the tensegrity mechanism when one end of the leg mechanism is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of the stiffness of
the spring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.},
keywords = {},
pubstate = {accepted},
tppubtype = {conference}
}
Swaminath Venkateswaran; Damien Charles Chablat; Denis Creusot
Design and analysis of a series-parallel hybrid 3-SPS-U mechanism Proceedings Article
In: Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, MA, United States, 2023.
@inproceedings{venkateswaran_2304,
title = {Design and analysis of a series-parallel hybrid 3-SPS-U mechanism},
author = {Swaminath Venkateswaran and Damien Charles Chablat and Denis Creusot},
url = {https://event.asme.org/IDETC-CIE},
year = {2023},
date = {2023-08-01},
booktitle = {Proceedings of the ASME 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference},
address = {Boston, MA, United States},
abstract = {This article presents the design and analysis of a series-parallel hybrid tensegrity mechanism. The mechanism has two stages which consist of a fixed base, an intermediate mobile platform, and a mobile end-effector. Each stage is connected by three tension springs and a universal joint in the center. By correlating to a 3-SPS-U architecture, the geometrical equations for the mechanism are generated in the Euler space and the Tilt & Torsion space. To simplify the computations, the Tilt & Torsion space is employed for the analysis of the mechanism. A stability analysis is carried out initially to identify the design parameters of the mechanism in the static mode through an optimization approach. By employing algebraic methods, the singularity analysis is then carried out on the hybrid mechanism. The results of this analysis helped in identifying the feasible workspace and the maximum tilt limits of the architecture. A mapping equation that demonstrates the relation between the Tilt & Torsion angles and the Euler angles is then presented using the results of singularity analysis. A numerical simulation is then demonstrated to validate the results of the analysis. The mechanism under study is then proposed to be integrated into a piping inspection robot for passing through elbows and T-sections.},
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Perla Nohra; Helmi Ben Rejeb; Swaminath Venkateswaran
Impact of automation during innovative remanufacturing processes in circular economy Proceedings Article
In: 2022 IEEE 28th International Conference on Engineering, Technology and Innovation (ICE/ITMC) & 31st International Association For Management of Technology (IAMOT) Joint Conference, IEEE, Nancy, France, 2023, ISBN: 978-1-6654-8817-4.
@inproceedings{nohra_1814,
title = {Impact of automation during innovative remanufacturing processes in circular economy},
author = {Perla Nohra and Helmi Ben Rejeb and Swaminath Venkateswaran},
url = {https://ieeexplore.ieee.org/document/10033231},
issn = {978-1-6654-8817-4},
year = {2023},
date = {2023-02-01},
booktitle = {2022 IEEE 28th International Conference on Engineering, Technology and Innovation (ICE/ITMC) & 31st International Association For Management of Technology (IAMOT) Joint Conference},
publisher = {IEEE},
address = {Nancy, France},
abstract = {With the increasing demand of raw materials nowadays, and the decrease in supplies, the industrial sector is suffering, while the environment and the society are also indirectly affected. The goal to reach a sustainable development imposes several studies on the economic, environmental and community level. The aim of this paper is to provide an overview of the existing literature on automating remanufacturing, and its impacts on the three pillars of sustainability. The outcomes of this study will reveal the impacts of remanufacturing on sustainability and will conceptualize the impact of using automation and cobots, which are among the key concepts in industry 4.0. The investigation that covers each part of the remanufacturing process will help in formalizing an approach about the automation of such processes and improve the remanufacturing sector towards a more sustainable industry.},
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Swaminath Venkateswaran; Damien Charles Chablat
Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot Proceedings Article
In: 47th Congress of the society of Biomechanics, Monastir, Tunisia, Monastir, Tunisia, 2022, ISBN: 1025-5842.
@inproceedings{venkateswaran_1843,
title = {Stability analysis of tensegrity mechanism coupled with a bio- inspired piping inspection robot},
author = {Swaminath Venkateswaran and Damien Charles Chablat},
url = {https://www.tandfonline.com/doi/epdf/10.1080/10255842.2022.2116885?needAccess=true&role=button},
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year = {2022},
date = {2022-10-01},
booktitle = {47th Congress of the society of Biomechanics, Monastir, Tunisia},
address = {Monastir, Tunisia},
abstract = {Piping inspection robots play an essential role for industries as they can reduce human effort and pose a lesser risk to their lives. Generally, the locomotion techniques of these robots can be classified into mechanical and bioinspired. By using slot-follower leg mechanisms, DC-motors, and control units, a rigid caterpillar type inspection robot was designed and developed at LS2N, France. This rigid prototype helped in identifying the static forces required to
accomplish good contact forces with the pipeline walls. In order to work inside curvatures, a tensegrity mechanism that uses three tension springs and a passive universal joint was introduced between each module of this robot. The optimal parameters of the robot assembly were identified by considering a preload of the cables, which ensured the stability of the entire robot. However, under static conditions, there exist some forces on the robot,
especially on the tensegrity mechanism when one end of the leg mechanism is clamped with the pipeline walls. These forces are dominant when the orientation of the pipeline is horizontal. The objective of this article is to understand the effect of the stiffness of
the spring on the static stability of the tensegrity mechanism under the self-weight of the robot assembly.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
Swaminath Venkateswaran
Conception d'un robot bio-inspiré pour l'inspection des canalisations PhD Thesis
Ecole Centrale de Nantes, 2020.
@phdthesis{venkateswaran_1794,
title = {Conception d'un robot bio-inspiré pour l'inspection des canalisations},
author = {Swaminath Venkateswaran},
url = {https://tel.archives-ouvertes.fr/tel-03164212/},
year = {2020},
date = {2020-11-01},
address = {1 rue de la noë, 44300 Nantes},
school = {Ecole Centrale de Nantes},
note = {PDF accessible in TEL/HAL website},
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}
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