MAE 593 Final Project Presentation

MAE 593 Project Presentation PRRR- SERIAL MANIPULATOR RRR-RPR-RRR -PARALELL MANIPULATOR By Nikhil Sapre Tejas Puntambekar

PRRR Serial Manipulator ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],P P R R R EE L1 d1 L3 L2 Theta1 Theta2 Theta3

Basic Features ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Forward Kinematics Xee=d1+L1*cos(theta1)+L2*cos(theta2)+L3*cos(theta3) Yee=L1*sin(theta1)+L2*sin(theta2)+L3*sin(theta3)

Manipulator Forward Kinematics

Inverse Kinematics ,[object Object],[object Object],[object Object],[object Object]

Manipulator Inverse Kinematics

Plot WorkSpace ,[object Object],[object Object],[object Object],[object Object]

Trace Ellipse/Circle ,[object Object],[object Object]

Trace Curve ,[object Object],[object Object],[object Object],[object Object]

Trajectory-Trace Curve Curve in X direction

Trajectory-Trace Curve Curve in Y direction

Trajectory-Trace Curve Random Curve

Trajectory-Trace Curve Error Messages

RRR-RPR-RRR Parallel Manipulator ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],d1

Forward Kinematics ,[object Object],[object Object],Forward Kinematics ,[object Object],[object Object]

MAE 593 Final Project Presentation

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MAE 593 Final Project Presentation