The 3-RRR Planar Parallel Manipulator





A picture of the manipulator developed at the Robotics Laboratory, Department of Engineering Design, IIT Madras. Development of the manipulator and its control schemes formed the thesis topic of Chaman Nasa, M.S. scholar. The project was funded by IIT Madras.

Results achieved so far (May 2011)



• A prototype of the 3-RRR manipulator has been developed
• A task-priority-based control algorithm has been formulated which takes the manipulator along "singular" paths
• The control scheme has been verified experimentally on the physical prototype

Related publications


1. Chaman Nasa and Sandipan Bandyopadhyay, “Trajectory-tracking control of a planar 3-RRR parallel manipulator”, presented at the International Conference on Multi Body Dynamics (ICMBD), Vijaywada, India, 24-26 February, 2011.

(download pre-print version as a PDF file).

2. Chaman Nasa and Sandipan Bandyopadhyay, “Trajectory-tracking control of a planar 3-RRR parallel manipulator with singularity avoidance”, to be presented at the 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, 19-25 June, 2011.

(download pre-print version as a PDF file).


Videos


 


 

Details of some hardware components


 

Acknowledgments


 

We are thankful to:

 

IC&SR IIT Madras, for funding the project, through its New Faculty Research Grant No. EDD/08-09/232/NFSC/SAND.

 

Mr. Kaushal Shah, of Galil Motion Control Inc., USA, for a lot of useful inputs and guidance regarding the selection of the control hardware and its use.

 

Mr. Abhishek Agarwal, Project Assistant, Department of Engineering Design, for a lot of help in the process of designing and manufacturing the mechanical components.