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V. Vinoth(1100335)
Y. Ravi Kiran(1100340)
Indian Institute of Technology - Indore
Introduction
What are serial and parallel mechanisms and
how is one superior to the other?
What are XYz planar platforms and what is
their need?
What this project proposes?
Advantages and limitations of the proposed
planar platform used here.
Project Plan
15-May
Literature review
CAD Modelling
Refinement of the model and detailing
Kinematic modelling
Dynamic modelling
Kinematic simulations and feasibility analysis
Numerical simulations
Sensor selection and calibration
Experimental simulation and validation
21-Jun
28-Jul
03-Sep
10-Oct
16-Nov
Fabricated Prototype
3
1. Control Scheme
2. Camera
2
3. Power Supply
4. Controller
5. Linear Actuator
6. End-effector
5
6
Comparison Workspace
Manipulability
Resistivity
Isotropy
Kinematic Modelling
The kinematic analysis refers to the development of relations
between the position (x and y) and orientation () of the endeffector/work table (task space parameters) and the joint space
parameters (in this case r1, r2 and r3).
Dynamic Modelling
The dynamic model of the proposed platform is developed using
the Euler-Lagrangian formulation method based on the kinetic
and potential energies associated with the system.
The Lagrangian term, L = KE PE ;
d KE KE
fi
dt di di
M C , dis
Control Scheme
Real-time controller
Simulation Results
Task space
data during
tracking
Task space
error during
tracking
Simulation Results
d
~) C
(, )
()
d K 1 K 2 sign sign(
M
dt
Control equation
dis L
~) C
(, )
1 ()L L d sign(
M
con
dt
~ sign(
~)
Disturbance
Observer
Applications
(Industrial)
Conclusions
Visible Output
(1). Robust Disturbance Observer based Sliding Mode Control of
a Planar Parallel (3-PPR) Manipulator, IEEE SCES 14 (Best
Paper Award)
(2). Inverse Dynamics and Control of a 3-DOF Planar Parallel
Robotic (U-Shaped 3-PPR) Manipulator, Journal of Robotics and
Computer Integrated Manufacturing.
Acknowledgements:
Thank You!
Questions?