Target Reaching and Workspace Analysis of a Planar Parallel Manipulator

Abstract

Parallel manipulators due to their higher load carrying capacity, high precision and stiffness are increasingly becoming popular in industry and research. Integration of automatic control system has enabled parallel manipulators to perform tasks which were hitherto not possible. This opens endless vistas for research work in the field of parallel manipulators. Areas such as machining, welding, trajectory tracking are being explored. This dissertation is a continuation of this legacy. In this present work, an electrically actuated manipulator leg based on ball screw feed drive has been modelled. A 3-DOF parallel planar manipulator with ball screw feed drive legs is modelled. An inversion controller using overwhelming control for trajectory tracking purposes is developed. Thereafter, another inversion controller based on proportional control is developed. Simulation of the bond graph models have been carried out on SYMBOLS Shakti software. Workspace analysis plays a cardinal role in the trajectory planning, design and operation of a manipulator. Workspace analysis corresponding to the trajectory tracking manipulator is carried out. Constant orientation workspace based upon constraints on actuated and unactuated joints is determined. The required workspace is obtained with the help of MATLAB.