DESIGN DEVELOPMENT AND

CONTROL OF A 3-PPR MANIPULATOR

Guide : Dr. M. Santhakumar

V. Vinoth(1100335)
Y. Ravi Kiran(1100340)
Indian Institute of Technology - Indore

Introduction
What are serial and parallel mechanisms and
how is one superior to the other?
What are XYz planar platforms and what is
their need?
What this project proposes?
Advantages and limitations of the proposed
planar platform used here.

Project Plan
15-May
Literature review
CAD Modelling
Refinement of the model and detailing
Kinematic modelling
Dynamic modelling
Kinematic simulations and feasibility analysis

Material Selection and Design Optimatization

Fabrication
Controller Design

Numerical simulations
Sensor selection and calibration
Experimental simulation and validation

Report Completion and Submission

21-Jun

28-Jul

03-Sep

10-Oct

16-Nov

Construction and Visualization

Solid model of the manipulator

Kinematic link Parameters

Fabricated Prototype
3

1. Control Scheme

2. Camera
2

3. Power Supply

4. Controller
5. Linear Actuator
6. End-effector

5
6

Comparison Workspace

Comparison Performance Parameters

Manipulability

Resistivity

Isotropy

Kinematic Modelling
The kinematic analysis refers to the development of relations
between the position (x and y) and orientation () of the endeffector/work table (task space parameters) and the joint space
parameters (in this case r1, r2 and r3).

Dynamic Modelling
The dynamic model of the proposed platform is developed using
the Euler-Lagrangian formulation method based on the kinetic
and potential energies associated with the system.
The Lagrangian term, L = KE PE ;
d KE KE
fi

dt di di

M C , dis

Control Scheme

Real-time controller

Numerical Simulations Trajectory Tracking

Desired Trajectory - explained

Trajectory Tracking - Simulations

Simulation Results

Task space
data during
tracking

Task space
error during
tracking

Simulation Results

Time histories of the linear actuator control inputs (voltages) during

desired trajectory tracking experiment

Equations for Reference

PD like adaptive sliding mode control
con dis
con

d
~) C
(, )
()
d K 1 K 2 sign sign(
M
dt

Control equation

dis L
~) C
(, )
1 ()L L d sign(
M
con
dt

~ sign(
~)

Disturbance
Observer

Applications
(Industrial)

Applications (Medical Robot)

This project addressed the dynamic analysis

of an existing three degrees of freedom (3PPR) planar robotic parallel manipulator and

Conclusions

proposed a disturbance observer based

sliding mode control scheme.

This work can be extended easily for spatial

parallel robotic platforms.

Visible Output
(1). Robust Disturbance Observer based Sliding Mode Control of
a Planar Parallel (3-PPR) Manipulator, IEEE SCES 14 (Best
Paper Award)
(2). Inverse Dynamics and Control of a 3-DOF Planar Parallel
Robotic (U-Shaped 3-PPR) Manipulator, Journal of Robotics and
Computer Integrated Manufacturing.

Acknowledgements:

Thank You!
Questions?

We thank our guide Dr. M. Santhakumar, the

Director, IITI for providing us the
infrastructure, CRC lab, research scholars and
other lab members for intellectual support
and the Central Workshop for helping us in
fabricating the prototype.
This project wouldnt have been possible
without help from all these people.