B.

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.
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PROJECT OVERVIEW
Performance analysis
PID
EW
I
V
R
E
V
O

Fabrication
SMC

Control system design

T
C
JE
O
R
P
Mathematical modeling
& Simulation

Kinematic
Analysis
Workspace
Analysis

Selection of
actuators and
sensors

Simulation
Dynamic
Analysis

Concept design
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3
3 3

INTRODUCTION
SKF Linear Actuator Specifications

SKF Linear Actuator

Voltage

12V

Maximum Load

500N

Current at maximum pay load

4 Amp

Stroke length

250mm

MICROSOFT CAMSTUDIO

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PHYSICAL
MODEL

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PHYSICAL PROPERTIES OF
PROPOSED SYSTEM

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Mass of Slider 1

410g

Mass of Slider 2

420g

Mass of Slider 3

420g

Links Masses (1; 2 &3)

285g

Platform

100g

Width of Platform

120mm

Mass moment of Inertia

245000g*mm^2

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CONCEPTUAL AND FRAME

DIAGRAM
endeffecto
r frame

Active
prismatic
joint 3

Passive
joint

Guide ways for

prismatic
joints
Inerti
al
frame
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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

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FORWARD AND INVERSE KINEMATICS

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
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where,

r1 , r2 and r3 are prismatic

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

z is the yaw angle of the

endeffector from the
inertial frame
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WORKSPACE
AREA

Fig: 3 Workspace area of proposed mechanism

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Velocity Analysis (Jacobian

Matrix)
x

Joint space velocities to task space velocities

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

Use this relation for deriving kinetic energy of the

robotic platform. Therefore, total kinetic energy is in
terms of joint space variables.
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10

Velocity Analysis continued...

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

Singular Condition J=0,

z 90
Maximum allowable yaw angle is
-60 to 60

60 z 60

Square
Trajector
y
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Circular
Trajector
y
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DYNAMIC
ANALYSIS
It is an energy based
approach.

Since, it is planar platform potential energy of the robotic

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

Kinetic energy of Platform

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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

Links Kinetic Energies

Platform Kinetic
Energy

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DYNAMIC ANALYSIS
Joint forces CONTINUED
can be derived from the following relation as given
below:
d KE KE

fi

dt ri
ri

By combining all input variables and formulating the

equations of motion of the platform in state space form as
follows:
T

M C , dis

Where
M

is inertia matrix

C , Is the Coriolis and centripetal

r1 r2

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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
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idis
edis

r3 T

Internal Disturbance
(Process and
measurement noise)
External
Disturbance
(payload variation,
vibration..)
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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

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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

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m
l

* r r
3
2

* r r
3
2

14

DYNAMIC
SIMULATION

Dynamic Simulation with 1 N

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CONTROLLER
DESIGN

Simulation
Cases
PID Controller

Proposed Controller (Sliding Mode

Controller)

Desired
Trajectory
Task 1t<=15;
Task-2

Y=0.1;

t<=15+31.4

X 0.4 0.2 * sin(0.1* )

Y 0.3 0.2 * cos(0.1* )
Task-3
t<=15+31.4+15

Y
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(4 * X 0.1)
3
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PID
CONTROLLER

The robotic control of PID controller

is given by
~
~
~

M d K D K P K I C , dis

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RESULT AND DISCUSSION OF PID

CONTROLLER

Desired Trajectory Vs Actual Trajectory

(SMC) Tracking

PID controller Error

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RESULT AND DISCUSSION OF PID

CONTROLLER

Joint Position Vs time

Joint Velocity Vs
time

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RESULT AND DISCUSSION OF PID

CONTROLLER
ask Position Vs time

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PROPOSED CONTROLLER (SMC WITH

DISTURBANCE OBSERVER)
Why Disturbance Observer
Un-modelled Dynamics
Unknown Disturbance
Lack of Sensors

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MODE CONTROL WITH DISTURBANCE OBSERVER CONTI

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RESULT AND DISCUSSION OF SMC CONTROLLER

Desired Trajectory Vs Actual Trajectory (SMC)
Tracking

SMC controller Error

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RESULT AND DISCUSSION OF SMC CONTROLLER

Joint Position Vs time

Joint velocity Vs time

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RESULT AND DISCUSSION OF SMC CONTROLLER

Joint velocity Vs
time

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TRACKING RESULT B/W DESIRED, PID AND SM

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ERROR COMPARISION PID

AND SMC

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DESIGN
VALIDATION
Tracking
Using
Camera

PC with
MATLAB
Simulink

Feedback

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Ardunio
and Motor
Drivers

Actuators

28

DESIGN VALIDATION
t to point openCONT.....
and closed loop Control

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TRACKING USING CAMERA

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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

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LIVE DEMO
Video 1 Point to Point trajectory with
Feedback

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LIVE DEMO

Video 2 Square, Inclined Base trajectory

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LIVE DEMO
Video 3: Square (Parallel Base)

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k
n
a
h
T
u
o
Y
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