Development of a 6 DOF Parallel Serial Hybrid Manipulator

Sahoo, Chiranjibi (2015) Development of a 6 DOF Parallel Serial Hybrid Manipulator. MTech thesis.



This thesis focuses on the development of a new modular 6 DOF hybrid manipulator. A hybrid manipulator consists of the synergistic combination of serial and parallel manipulator architectures. It incorporates the good performance characteristics of a serial manipulator (larger work space and dexterity) and a parallel manipulator (higher rigidity and loading capacity/self-weight ratio). The hybrid manipulator under study includes a 3 DOF symmetric planar manipulator as a base platform over which a 3 DOF serial manipulator was placed with an appropriate endeffector. The objective of the thesis was to fabricate the above-described manipulator and develop control algorithm for manipulation. The research work started with kinematic (forward and inverse) and dynamic analysis of parallel and serial manipulators was carried analytically and computationally in MATLAB. The results of which were required for configuration selection, design optimization, motion analysis and simulation of the hybrid manipulator. From the analysis results, the planar base and serial arm manipulator was fabricated. The prototype developed was controlled in real time through MATLAB-Sim Mechanics Arduino Interface. The inverse kinematics was solved by MATLAB and servo control was established via Arduino. The algorithm developed for manipulation was verified alongside computational simulation and experiments

Item Type:Thesis (MTech)
Uncontrolled Keywords:Hybrid Manipulators, Kinematic and Dynamic Analysis, Parallel platform, Serial Arm, PID Feedback Control, Image Processing, FEA and Prototyping
Subjects:Engineering and Technology > Mechanical Engineering > Mechatronics
Engineering and Technology > Mechanical Engineering > Robotics
Engineering and Technology > Mechanical Engineering > Finite Element Analysis
Engineering and Technology > Mechanical Engineering > Structural Analysis
Divisions: Engineering and Technology > Department of Mechanical Engineering
ID Code:7646
Deposited By:Mr. Sanat Kumar Behera
Deposited On:18 Sep 2016 14:19
Last Modified:18 Sep 2016 14:19
Supervisor(s):Parhi, D R

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