Design and development of a 3-DOF Planar Parallel Manipulator

In this thesis,the design and development of a 3-DOF planar parallel manipulator is addressed from kinematic viewpoint.The 3-DOF planar parallel manipulator consist of two bodies(referred to as the base and the platform) connected through three chains (two links each) having revolute joints.The work space of this manipulator has a lot of singularities inside it where the manipulator is uncontrollable.The design should be such that it is free from singularities. The link length of the manipulator are calculated using optimization techniques,by keeping all singularities under considerations.Selection of materials and actuators are given.The structural design of the elements of the manipulator based on accuracy criteria is discussed.A prototype manipulator was developed as per the design.The control of actuators through interfacing the manipulator with the computer is presented.

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