Kinematic Analysis And Optimization Of Multi Dof Parallel Manipulator

The role of robotics in society is no longer restricted to assembly and manufacturing. Robots are finding their way into –a wide spectrum of tasks that directly link human and machine. Due to the modelling error or environmental uncertainties, robot motion may present a significant positioning error by using a conventional Computer-Torque Method. To improve tracking capability of robot manipulators, sliding mode control and nonlinear control algorithms have been introduced, but computation is costly, and thus a fast motion execution using simple computer sources is impossible. To resolve this problem, the resolution and position accuracy of magnetically suspended frictionless Hexapod multi DOF manipulator is designed and it will simulate with the help of Adams Software. From Reverse Position Analysis the system joint information can be obtained for a specified operational position. Forward kinematics for a manipulator is the process to calculate the position (or motion) of an end effectors when joint variables are specified. The process is carried out by multiplying sequentially the 4x 4 homogeneous transformation matrix of each joint and finding the transformation matrix Ti for the corresponding position The main objective of this Project is to Study the kinematic behavior of the Multi DOF Manipulator mechanism and to control the overall action and to develop a procedure for the optimal design of a redundantly actuated Multi DOF manipulator and to determine the geometric parameters and operating limits.