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

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

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

4 th 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

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)

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

4RRR – Ellipse Tracing

4RRR – Rotated Ellipse

Partial ellipse

With base locations changed

Rhombus lengths changed

Rhombus Link internal angle changed

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