Madras Parallel Manipulator (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. |
| 3. |
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). |
| 4. |
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. |
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Videos
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Details of some hardware components
Acknowledgments
| We are thankful to:
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Centre for Artificial Intelligence and Robotics (CAIR), Bangalore, for letting us use their facilities to create the first ABS prototypes of MaPaMan.
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Mr. Ranganathan, who runs a fabrication workshop in Velachery for helping us with the manufacturing of the prototypes. |