Development of Plotter Using Parallel Manipulator

Khandagale, Sudarshan and R, Prasanth Kumar (2018) Development of Plotter Using Parallel Manipulator. Masters thesis, Indian Institute of Technology Hyderabad.

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Abstract

To overcome the workspace and load carring capacity limitation of serial manipulator development of parallel manipulator is required. Parallel manipulator have Better stiffness and payload, higher natural frequencies and accuracy, more convenient location of the actuators, higher velocity and acceleration of the end-effector. Parallel manipulator can do optimal use of the limited workspace. As per todays industry requirement we have also focused on maximum workspace usage by overcoming mechanical constraint of parallel manipulator mechanism so that we can access maxim workspace. Workspace of a parallel robot is generally smaller than that of a similarly-sized serial robot and is often segmented by singularities. During experiment for overcoming singularities to access maxim workspace now we are able to access 64.05 % workspace with combination of mode - - with mode ++ and 29.30 % workspace with mode -+ at both font and back side of workspace. Also after successful acquiring 64.05 % workspace we try to use it for application such as plotting alphabets and pickup-place in available area

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