Madras Parallel Manipulator (MaPaMan)

A Picture of MaPaMan

A picture of the functional prototype of MaPaMan-I developed at the Robotics Laboratory, Department of Engineering Design, IIT Madras. The design, development and testing of the manipulator was done by two of my Dual Degree students, R Arun Srivatsan and Tarun S. Mehtal, as a part of their M. Tech. projects, with the former taking care of the kinematic and design analysis, and the latter focussing on the dynamics and control schemes.

Results achieved so far (November 2012)

• A fully functional prototype of the MaPaMan has been developed
• Position and velocity kinematics of the manipulator have been formulated
• Dynamic analysis of the manipulator has been carried out using the constrained Lagrangian formulation
• A redundant sensory suite has been employed to sense certain passive angles, leading to faster pose estimation of the end-effector and faster feedback loop-rates.  
• The control scheme has been verified experimentally on the physical prototype

Related publications/patents/recognitions


1. The third prize in the 2011 ASME International Student Mechanism and Robot Design Contest held at Washington DC, went to R. Arun Srivatsan for his entry, the MaPaMan.
2. Sandipan Bandyopadhyay, R Arun Srivatsan and Tarun S Mehta, “ A reconfigurable parallel manipulator", Indian provisional patent 3277/CHE/2012, August 2012.

R Arun Srivatsan, "Design, analysis and development of MaPaMan”, M. Tech. report, Indian Institute of Technology Madras, Chennai, India, May 2012. (download abstract as a PDF file).


Tarun S. Mehta, "Dynamics, Trajectory Tracking and Testing of MaPaMan", M. Tech. report, Indian Institute of Technology Madras, Chennai, India, May 2012. (download abstract as a PDF file).

5. Srivatsan, R. A., and Bandyopadhyay, S. (2012), On the position kinematic analysis of MaPaMan: a reconfigurable three-degrees-of-freedom spatial parallel manipulator, accepted for publication in Mechanism and Machine Theory.







Details of some hardware components





We are thankful to:


Centre for Artificial Intelligence and Robotics (CAIR), Bangalore, for letting us use their facilities to create the first ABS prototypes of MaPaMan.


Mr. Ranganathan, who runs a fabrication workshop in Velachery for helping us with the manufacturing of the prototypes.