DESIGN DEVELOPMENT AND

CONTROL OF A 3-PPR MANIPULATOR

V. Vinoth(1100335)

Y. Ravi Kiran(1100340)

Indian Institute of Technology - Indore

Guide : Dr. M. Santhakumar

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 21-Jun 28-Jul 03-Sep 10-Oct 16-Nov

Literature review

CAD Modelling

Refinement of the model and detailing

Kinematic modelling

Dynamic modelling

Kinematic simulations and feasibility analysis

Material Selection and Design Optimatization

Fabrication

Controller Design

Numerical simulations

Sensor selection and calibration

Experimental simulation and validation

Report Completion and Submission

Construction and Visualization

Solid model of the manipulator Kinematic link Parameters

Fabricated Prototype

1

4

3

2

6

5

1. Control Scheme

2. Camera

3. Power Supply

4. Controller

5. Linear Actuator

6. End-effector

Comparison Workspace

Comparison Performance Parameters

Manipulability Resistivity

Isotropy

Kinematic Modelling

The kinematic analysis refers to the development of relations

between the position (x and y) and orientation () of the end-

effector/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 ;

i

ii

d KE KEf

dt dd

disCM ,

Control Scheme

Real-time controller

Numerical Simulations Trajectory Tracking

Desired Trajectory - explained Trajectory Tracking - Simulations

Simulation Results

Task space

data during

tracking

Task space

error during

tracking

Time histories of the linear actuator control inputs (voltages) during

desired trajectory tracking experiment

Simulation Results

Equations for Reference

),()~sign(dt

dsign)(

21 CKKM

dcon

discon

CLLM

L

),()~sign(dt

d)(

1 con

dis

)~sign(~

Control equation

Disturbance

Observer

PD like adaptive sliding mode control

Applications

(Industrial)

Applications (Medical Robot)

Conclusions

This project addressed the dynamic analysis

of an existing three degrees of freedom (3-

PPR) planar robotic parallel manipulator and

proposed a disturbance observer based

sliding mode control scheme.

This work can be extended easily for spatial

parallel robotic platforms.

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.

Thank You!

Questions?

Acknowledgements:

We thank our guide Dr. M. Santhakumar, the

Director, IITI for providing us the

infrastructure, CRC lab, research scholars and

other lab members for intellectual support

and the Central Workshop for helping us in

fabricating the prototype.

This project wouldnt have been possible

without help from all these people.