MAE 593 Project MAE 593 Project PresentationPresentation

PRRR- SERIAL MANIPULATOR

RRR-RPR-RRR -PARALELL MANIPULATOR

ByNikhil SapreTejas Puntambekar

PRRR Serial ManipulatorPRRR Serial ManipulatorRRR Manipulator

mounted on Sliding Base2 d.o.f at EE (Redundant)Forward KinematicsInverse KinematicsWorkspace PlottingTrajectory

o Trace Ellipseo Trace Circleo Trace Curve

PP

R

R

R

EE

L1d1

L3

L2

Theta1

Theta2

Theta3

Basic FeaturesBasic FeaturesBase Position fixed to (0,0)Can Slide along X-Axis from -50 to 50User defined Link Lengths (5-50)Task Space ConfigurationJoin Space ConfigurationPlot WorkSpace Trace Ellipse/CircleTrace Curve Return to Home Position

GUI – Home PositionGUI – Home Position

Forward KinematicsForward Kinematics

Xee=d1+L1*cos(theta1)+L2*cos(theta2)+L3*cos(theta3)

Yee=L1*sin(theta1)+L2*sin(theta2)+L3*sin(theta3)

Manipulator Forward Manipulator Forward KinematicsKinematics

Inverse KinematicsInverse KinematicsRedundant System

4-Unknowns, 2 equations

Newton-Raphson Numerical method

Pseudo Inverse of Jacobian

Manipulator Inverse Manipulator Inverse KinematicsKinematics

Plot WorkSpacePlot WorkSpaceDivide the space into grid

Check for each point whether inverse exists

Mark green diamond if within workspace and red cross if out of reach

No internal singularities

Manipulator – Work Manipulator – Work SpaceSpace

Trace Ellipse/CircleTrace Ellipse/CircleUser input co-ordinates of center and Major

and Minor Axis dimensions

Trace the ellipse/circle using inverse kinematics

Trajectory-Trace EllipseTrajectory-Trace Ellipse

Trajectory-Trace CircleTrajectory-Trace Circle

Trace CurveTrace CurveInput 5 points using mouse

Interpolation between points using interp1 function

Trace the curve using inverse kinematics

Curve in X and Y direction

Trajectory-Trace CurveTrajectory-Trace Curve

Curve in X direction

Trajectory-Trace Trajectory-Trace CurveCurve

Curve in Y direction

Trajectory-Trace Trajectory-Trace CurveCurve

Random Curve

Trajectory-Trace CurveTrajectory-Trace Curve

Error Messages

DemoDemo

RRR-RPR-RRR Parallel RRR-RPR-RRR Parallel ManipulatorManipulator

Chain1-RRRChain2-RPRChain3-RRR3 d.o.f at EEForward KinematicsInverse Kinematics

d1

Parallel Manipulator GUIParallel Manipulator GUI

Forward KinematicsForward KinematicsFirst aim is to find unknown joint space

variables Then we can find the Task Space Variables

Forward KinematicsForward KinematicsFirst aim is to find unknown joint space

variables Then we can find the Task Space Variables