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You are on page 1of 35

TECH

PROJECT

Design and Development of 3-DOF

PPR Platform for Micro Fabrication

and

Positioning

Under

the Guidance

Dr. M. Santhakumar

Presented

by

Ramavatar

Meena

Roll No. - 1000316

B.Tech 4th year (ME)

IIT Indore

2/16/16

Sandip Patidar

Roll No. - 1000322

B.Tech 4th year (ME)

IIT Indore

Mechanical Engineering

Jayant Kr.

Mohanta

Roll No. - 1000326

B.Tech 4th year (ME)

IIT Indore

1

Acknowledgement

Wewould like to express our special thanks of gratitude to

our guide Dr. M. Santhakumar who gave us the golden

opportunity to do this wonderful project on the topic

Design and Development of 3-DOF PPR Platform for

Micro Fabrication and Positioning Applicationwhich

also helped us in doing a lot of Research and we came to

know about so many new things. We are really thankful to

them. Secondly we would also like to thank my parents and

friends who helped us a lot in finalizing this project within

the limited time frame.

2/16/16

Mechanical Engineering

PROJECT OVERVIEW

Performance analysis

PID

EW

I

V

R

E

V

O

Fabrication

SMC

T

C

JE

O

R

P

Mathematical modeling

& Simulation

Kinematic

Analysis

Workspace

Analysis

Selection of

actuators and

sensors

Simulation

Dynamic

Analysis

Concept design

2/16/16

2/16/16

2/16/16

Mechanical Engineering

3

3 3

INTRODUCTION

SKF Linear Actuator Specifications

Voltage

12V

Maximum Load

500N

4 Amp

Stroke length

250mm

MICROSOFT CAMSTUDIO

2/16/16

Mechanical Engineering

PHYSICAL

MODEL

2/16/16

Mechanical Engineering

PHYSICAL PROPERTIES OF

PROPOSED SYSTEM

2/16/16

Mass of Slider 1

410g

Mass of Slider 2

420g

Mass of Slider 3

420g

285g

Platform

100g

Width of Platform

120mm

245000g*mm^2

Mechanical Engineering

DIAGRAM

endeffecto

r frame

Active

prismatic

joint 3

Passive

joint

prismatic

joints

Inerti

al

frame

2/16/16

Passive

joint

Work

table

Passive

joint

Active

prismatic

joint 2

Rotary

joints

Number of links

=8

Number of joints

=9

Degrees of freedom = 3 (81) 2 (9) = 3

Active

prismatic

joint 1

Mechanical Engineering

SOLUTION

Forward kinematic model

h

x r1

* ( r2 r3 )

a

r2 r3

y

2

( r2 r3 )

sin( z )

a

Inverse kinematic

r1 x h * sin( z )

model

r2

r3

2/16/16

where,

joint displacements (joint

parameters)

a is the width of

triangular Platform (end

effector)

x and y are the

endeffector (work table /

tool) positions

(sin z)

y a*

2

(sin z )

y a*

2

endeffector from the

inertial frame

Mechanical Engineering

WORKSPACE

AREA

2/16/16

Mechanical Engineering

Matrix)

x

r1

r and

Where y

are task space velocities

2

joint space

r3

z velocities.

are

h

h

x

1

a

a

y 0

1

/

2

1

/

2

z

0 1 /(a * cos( z )) 1 /( a * cos( z ))

r1

r

2

r3

robotic platform. Therefore, total kinetic energy is in

terms of joint space variables.

2/16/16

Mechanical Engineering

10

If J0, The matrix is non-singular, then we can invert it to calculate

joint rates from given Cartesian velocities.

r1

r

2

r3

x

1

y

z

z 90

Maximum allowable yaw angle is

-60 to 60

60 z 60

Square

Trajector

y

2/16/16

Circular

Trajector

y

Mechanical Engineering

11

DYNAMIC

ANALYSIS

It is an energy based

approach.

platform considered to be zero.

Total kinetic energy (KE) of the robotic platform is sum of

individual prismatic (slider) joint kinematic energies, Link

kinematic energies and workT table kinetic energy

T

1

1

1

* ms 2 r2 2 * ms 3 r3 2

2

2

2

Sliders Kinetic

T

.

Energies

T

.

.

x. m p

0 x3

1

x3 ml 3

* y 0

0

.

.

.

m

2

l3 y

y3

0

3

KE

1

*

2

.

* ms1 r12

1 x1

* .

2

y1

0

mp

0

2/16/16

ml1

0

.

.

0 x1

1 x2

* .

ml1

2

y

y

1

2

ml 2

0

.

0 x2

ml 2

y2

0 x

.

0 y

.

I zzp

Platform Kinetic

Energy

Mechanical Engineering

12

DYNAMIC ANALYSIS

Joint forces CONTINUED

can be derived from the following relation as given

below:

d KE KE

fi

dt ri

ri

equations of motion of the platform in state space form as

follows:

T

M C , dis

Where

M

is inertia matrix

r1 r2

2/16/16

m12

m 22

m32

m13

m 23

m33

r3 T , r1 r2

f1 f 2 f 3 T

Disturbance vector dis idis edis

matrix

m11

M m 21

m31

r3 , r1 r2

n1

C , n 2

n3

Mechanical Engineering

idis

edis

r3 T

Internal Disturbance

(Process and

measurement noise)

External

Disturbance

(payload variation,

vibration..)

13

DYNAMIC ANALYSIS

m11 M

M s1 3 * M l

m12

h

a

m13

(M

h

a

m21

m22

m23

(M

h

a

(M

CONTINUED

2*Ml )

2*Ml )

p

2* Ml )

1

h

4

a

1

h

4

a

m31

h

a

(M

n2

n 3

*M

*M

h

m l *

3

3 I zz

a 3

2/16/16

I zz

* sec z

a2

I zz

* sec z

a2

I zz

* sec z

a2

I zz

* sec z

a2

5

h

a

4

1

h

a

4

M s2

M s2

m l *

3

h

1

M s 2

a

4

5

h

a

4

M s3

1

ml

sec

tan z m l

2a

2a 2

I zz

tan z

tan z

h * tan 2 * h

z

a

a

2 * h

m

l

m

l

2*Ml )

*M

1

h

4

a

n1 0

*M

1

h

m32

4

a

m33

m l 1

2a

tan m

z

l

h

2a 2

sec

tan z 2

tan z

m

l

2*

h * tan 2 * h

z

a

a

.

.

h

3

2

2

m l 2 sec z r2 r3

a

..

.

3

2

2

m l 2 sec z r2 r3

a

Mechanical Engineering

m

l

* r r

3

2

* r r

3

2

14

DYNAMIC

SIMULATION

2/16/16

Mechanical Engineering

15

CONTROLLER

DESIGN

Simulation

Cases

PID Controller

Controller)

Desired

Trajectory

Task 1t<=15;

Task-2

Y=0.1;

t<=15+31.4

Y 0.3 0.2 * cos(0.1* )

Task-3

t<=15+31.4+15

Y

2/16/16

(4 * X 0.1)

3

Mechanical Engineering

16

PID

CONTROLLER

is given by

~

~

~

M d K D K P K I C , dis

2/16/16

Mechanical Engineering

17

CONTROLLER

(SMC) Tracking

2/16/16

Mechanical Engineering

18

CONTROLLER

Joint Velocity Vs

time

2/16/16

Mechanical Engineering

19

CONTROLLER

ask Position Vs time

2/16/16

Mechanical Engineering

20

DISTURBANCE OBSERVER)

Why Disturbance Observer

Un-modelled Dynamics

Unknown Disturbance

Lack of Sensors

2/16/16

Mechanical Engineering

21

2/16/16

Mechanical Engineering

22

Desired Trajectory Vs Actual Trajectory (SMC)

Tracking

2/16/16

Mechanical Engineering

23

Joint Position Vs time

2/16/16

2/16/16

Mechanical Engineering

24

Joint velocity Vs

time

2/16/16

2/16/16

Mechanical Engineering

25

2/16/16

2/16/16

Mechanical Engineering

26

AND SMC

2/16/16

2/16/16

Mechanical Engineering

27

DESIGN

VALIDATION

Tracking

Using

Camera

PC with

MATLAB

Simulink

Feedback

2/16/16

2/16/16

Mechanical Engineering

Ardunio

and Motor

Drivers

Actuators

28

DESIGN VALIDATION

t to point openCONT.....

and closed loop Control

2/16/16

2/16/16

Mechanical Engineering

29

2/16/16

2/16/16

Mechanical Engineering

30

RESULT SUMMARY

Kinematic Design of mechanism Verified

Dynamic Model of 3PPR verified

Controller Used PID and SMC- Better result are obtained on using

efficient control scheme

Closed controller established using sensor feedback

Final position of end effector tracked using camera

2/16/16

2/16/16

Mechanical Engineering

31

LIVE DEMO

Video 1 Point to Point trajectory with

Feedback

2/16/16

2/16/16

Mechanical Engineering

32

LIVE DEMO

2/16/16

2/16/16

Mechanical Engineering

33

LIVE DEMO

Video 3: Square (Parallel Base)

2/16/16

2/16/16

Mechanical Engineering

34

k

n

a

h

T

u

o

Y

2/16/16

2/16/16

Mechanical Engineering

35

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