Lecture Notes in Mechanical Engineering Series Editors Francisco Cavas-Martínez, Departamento de Estructuras, Universidad Politécnica de Cartagena, Cartagena, Murcia, Spain Fakher Chaari, National School of Engineers, University of Sfax, Sfax, Tunisia Francesco Gherardini, Dipartimento di Ingegneria, Università di Modena e Reggio Emilia, Modena, Italy Mohamed Haddar, National School of Engineers of Sfax (ENIS), Sfax, Tunisia Vitalii Ivanov, Department of Manufacturing Engineering Machine and Tools, Sumy State University, Sumy, Ukraine Young W. 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All books published in the series are submitted for consideration in Web of Science. More information about this series at http://www.springer.com/series/11236 Rajeev Kumar · Vishal S. Chauhan · Mohammad Talha · Himanshu Pathak Editors Machines, Mechanism and Robotics Proceedings of iNaCoMM 2019 Editors Rajeev Kumar Vishal S. Chauhan School of Engineering School of Engineering Indian Institute of Technology Mandi Indian Institute of Technology Mandi Mandi, Himachal Pradesh, India Mandi, Himachal Pradesh, India Mohammad Talha Himanshu Pathak School of Engineering School of Engineering Indian Institute of Technology Mandi Indian Institute of Technology Mandi Mandi, Himachal Pradesh, India Mandi, Himachal Pradesh, India ISSN 2195-4356 ISSN 2195-4364 (electronic) Lecture Notes in Mechanical Engineering ISBN 978-981-16-0549-9 ISBN 978-981-16-0550-5 (eBook) https://doi.org/10.1007/978-981-16-0550-5 © Springer Nature Singapore Pte Ltd. 2022 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore Organization Conference Proceedings 4th International and 19th National Conference on Machines and Mechanisms (5–7 December 2019) Indian Institute of Technology Mandi Mandi, Himachal Pradesh, India. Chief Guests Dr. (Ms.) Tessy Thomas, Distinguished Scientist and Director General—Aeronau- tical Systems, DRDO Shri. Sudheer Kumar N., Associate Director, CBPO, ISRO HQ Shri. Sanjay Gulati, Executive Director, Bharat Heavy Electricals Limited, Haridwar Guests of Honour Shri. Jayant Patil, Whole Time Director (Defence and L&T-NxT), Member of the Board, Larsen & Toubro Limited Dr. S. Guruprasad, Distinguished Scientist and Director General—Production Coordination and Services Interaction (PC and SI) Commodore Mukesh Bhargava (Retd.), Vice President, Member of the Board, L&T Defence Shri. K. B. Batra, General Manager (Engineering and PCRI), BHEL, Haridwar v vi Organization Plenary Speakers and Keynote Speakers Prof. C. Amarnath, IIT Bombay Dr. Guirong Liu, University of Cincinnati Prof. Sambit Bhattacharya, Fayetteville State University Prof. G. K. Anathasuresh, IISc Bangalore Prof. Tarun Kant, IIT Bombay Prof. Subir Kumar Saha, IIT Delhi Prof. Alam Md. Mahbub, Shenzhen Graduate School of Harbin Institute of Technology, China Dr. Madhusudan A. Padmanabhan, Aeronautical Development Agency, Bangalore Dr. Lalit Singh, NPCIL-BARC iNaCoMM 2019 Committees Patron Prof. Timothy Gonsalves (Director, IIT Mandi) Advisory Committee C. Amarnath, IIT Bombay Suneel K. Agarwal, University of Delaware, Newark G. K. Ananthasuresh, IISc Bangalore, India S. Bandyopadhyay, IIT Madras Nilotpal Banerjee, NIT Durgapur Ranjan Bhattacharya, IIT Kharagpur Marco Ceccarelli, University of Cassino, Italy Javier Cuadrado, Universidad de La Coruña, Spain I-Ming Chen, NTU, Singapore Anirvan Dasgupta, IIT Kharagpur Santosha K. Dwivedy, IIT Guwahati Peter Eberhard, University of Stuttgart, Germany Ashitava Ghosal, IISc Bangalore, India Amitabha Ghosh, BESU, Shibpur India S. Guruprasad, R&D Estt., DRDO Pune Andres Kecskemethy, University of Duisburg-Essen, Germany Ashok Mallik, BESU, Shibpur, India J-P. Merlet, INRIA, France Rochdi Merzouki, Ecole Polytechnique, Universitaire de Lille, France Organization vii Arun Mishra, McGill University, Canada B. K. Mishra, IIT Roorkee Y. Nakamura, University of Tokyo, President, IFToMM Doina Pisla, Technical University of Cluj-Napoca Bernard Roth, Stanford University, USA Debanik Roy, BRNS, DAE, Mumbai Subir Kumar Saha, IIT Delhi Arun K. Samantaray, IIT Kharagpur Wolfgang Seeman, KIT Germany N. Shimizu, Iwaki Meisei University, Japan Pushparaj Mani Pathak, IIT Roorkee Joseph Anand VAZ, NIT Jalandhar N. S. Vyas, IIT Kanpur Indra Vir Singh, IIT Roorkee Anil Chand Mathur, ISRO Ahmedabad J. K. Agarwal, Bureau of Indian Standards, New Delhi Venkatakrishnan, HQ ISRO, Bangalore Organizing Committee Chairman: Prof. Satish Chandra Jain, IIT Mandi Convener: Dr. Rahul Vaish, IIT Mandi Co-convener: Dr. Viswanath Balakrishnan, IIT Mandi Organizing Secretary: Dr. Rajeev Kumar, IIT Mandi Joint Organizing Secretary: Dr. Mohammad Talha, IIT Mandi Joint Organizing Secretary: Dr. Himanshu Pathak, IIT Mandi Treasurer: Dr. Vishal S. Chauhan, IIT Mandi Mr. Ahmed Raza, Research Scholar, IIT Mandi Mr. Ajay Kumar, Research Scholar, IIT Mandi Mr. Ashok Kumar Shivratri, Research Scholar, IIT Mandi Mr. Diwakar Singh, Research Scholar, IIT Mandi Mr. Gaurav Arora, Research Scholar, IIT Mandi Mr. Gokul Krishna, Research Scholar, IIT Mandi Mr. Jitendra Adhikari, Research Scholar, IIT Mandi Mr. Kamalpreet Singh, Research Scholar, IIT Mandi Ms. Margi Gajjar, Research Scholar, IIT Mandi Mr. Mohammad Amir, Research Scholar, IIT Mandi Mr. Mohammed Shakir, Research Scholar, IIT Mandi Mr. Nayan Pundhir, Research Scholar, IIT Mandi Mr. Nishant Verma, Research Scholar, IIT Mandi Mr. Prakash Poudel, Research Scholar, IIT Mandi Mr. Rishikant, Research Scholar, IIT Mandi Mr. Satish Kumar, Research Scholar, IIT Mandi viii Organization Mr. Saurav Sharma, Research Scholar, IIT Mandi Ms. Shreya Lanjewar, Student, IIT Mandi Mr. Sumeet K. Sharma, Research Scholar, IIT Mandi Mr. Vikram Singh Chandel, Research Scholar, IIT Mandi Organizing Institute Preface It is a great privilege for us to present the proceedings of the 4th International and 19th National in the series of biennial conferences on Machines and Mechanisms (iNaCoMM 2019) organized under the aegis of Association for Machines and Mech- anisms (AMM) and International Federation for the Promotion of Mechanism and Machine Science (IFToMM) to be held at Indian Institute of technology Mandi, India, during 5–7 December 2019. iNaCoMM 2019 aims to provide a platform for discussing the issues, challenges, opportunities and findings of various aspects of design and analysis of machines and mechanisms by bringing together academicians, researchers, industry experts and students who are working in these domains.