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MAE593 Final Project Presentation

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MAE593 Final Project Presentation

  1. 1. Project Presentation – MAE593 By Hrishi Shah Shivaswamy Anirudh
  2. 2. Serial Manipulator - PPRR <ul><li>PPRR is similar to a gantry crane </li></ul><ul><li>Robot EE can be positioned anywhere in the workspace </li></ul><ul><li>Ellipse can be traced </li></ul><ul><li>Different weights can given for orientation and position </li></ul>
  3. 3. Details of implementation <ul><li>The velocity of the end-effector is obtained from the weighted pseudo-inverse. </li></ul><ul><li>4 th order Runge-Kutta is used for solving the differential equations. </li></ul>
  4. 4. PPRR Manipulator (cont’d)
  5. 5. PPRR Manipulator (cont’d)
  6. 6. PPRR Manipulator (cont’d)
  7. 7. PPRR Manipulator (cont’d)
  8. 8. Parallel Manipulator – 4RRR <ul><li>4RRR with a rhombus link </li></ul><ul><li>Bases of each RRR is at the vertex of a square </li></ul><ul><li>Inverse Kinematics </li></ul><ul><li>Null Space Implemented for velocity-level kinematics </li></ul><ul><li>Possible to trace ellipse inclined at angle using varying parameters as shown in next slide </li></ul>
  9. 9. Parameters <ul><li>Rhombus side length (variable name – l, line 15) </li></ul><ul><li>Rhombus side angle (variable name – side_angle,line 15) </li></ul><ul><li>Ellipse angle, (variable name – ell_angle, line 12) </li></ul><ul><li>Major axis, (radiusx , line 12) </li></ul><ul><li>Minor axis, (variable name – radiusy, line 12) </li></ul><ul><li>Simulation Angle, (variable name – Sim_Angle, line 19) </li></ul><ul><li>Base co-ordinates for RRR manipulators, (variable name – bases, line 18) </li></ul><ul><li>Phi – inclination of central link which is constant throughout the simulation, (variable name – phi, line 15) </li></ul>
  10. 10. 4RRR – Circle
  11. 11. 4RRR – Ellipse Tracing
  12. 12. 4RRR – Rotated Ellipse
  13. 13. Partial ellipse
  14. 14. With base locations changed
  15. 15. Rhombus lengths changed
  16. 16. Rhombus Link internal angle changed
  17. 17. THANK YOU

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