Project Presentation – MAE593

By

Hrishi Shah

Shivaswamy Anirudh

Serial Manipulator - PPRR

• PPRR is similar to a gantry crane• Robot EE can be positioned anywhere in the

workspace• Ellipse can be traced• Different weights can given for orientation

and position

Details of implementation

• The velocity of the end-effector is obtained from the weighted pseudo-inverse.

• 4th order Runge-Kutta is used for solving the differential equations.

PPRR Manipulator (cont’d)

PPRR Manipulator (cont’d)

PPRR Manipulator (cont’d)

PPRR Manipulator (cont’d)

Parallel Manipulator – 4RRR

• 4RRR with a rhombus link• Bases of each RRR is at the vertex of a square• Inverse Kinematics• Null Space Implemented for velocity-level

kinematics• Possible to trace ellipse inclined at angle using

varying parameters as shown in next slide

Parameters

• Rhombus side length (variable name – l, line 15)• Rhombus side angle (variable name – side_angle,line 15)• Ellipse angle, (variable name – ell_angle, line 12)• Major axis, (radiusx , line 12)• Minor axis, (variable name – radiusy, line 12) • Simulation Angle, (variable name – Sim_Angle, line 19)• Base co-ordinates for RRR manipulators, (variable name –

bases, line 18)• Phi – inclination of central link which is constant throughout

the simulation, (variable name – phi, line 15)

4RRR – Circle

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4RRR – Ellipse Tracing

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4RRR – Rotated Ellipse

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Partial ellipse

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With base locations changed

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Rhombus lengths changed

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Rhombus Link internal angle changed

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THANK YOU