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Design and Development of a Three-Link Rigid-Flexible Manipulator

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Recent Advances in Industrial Machines and Mechanisms (IPROMM 2022)

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

In this paper, a three-link rigid-flexible manipulator has been designed and developed for high-speed operations. The manipulator features one prismatic joint and two revolute joints to obtain the three-dimensional workspace. Before fabrication of the real setup, CAD (computer-aided design) model was built, and analysis was done to get an optimized structural design. Both the rotating links can translate together in vertical direction using the prismatic joint. The motor for the second rotating link is placed on the main structure, and a belt was used to transfer the rotation, which makes the experimental setup unique compared to those available in the literature. The full workspace analysis of the fabricated setup is done experimentally and theoretically. The setup is fabricated for high-speed operations while minimizing the vibrations. The motors inputs are PWM (pulse width modulation) signals and angle required to turn. The workspace is traced at very low speed to avoid deformation effect. The tip acceleration while rotating first link to 90 degrees by varying the PWM is also obtained using both rotating links attached.

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Acknowledgements

The authors thanks the DST-SERB, Government of India, for their financial support under sanction order number EMR/2016/004992 DTD.

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Authors and Affiliations

  1. Indian Institute of Technology Delhi, New Delhi, India

    Sandeep Kumar, Subir Kumar Saha & Satinder Paul Singh

  2. Thapar Institute of Engineering and Technology, Patiala, India

    Sanjay Vishwakarma, Rajmeet Singh, Ashish Singla & Tarun Kumar Bera

Authors
  1. Sandeep Kumar
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  2. Sanjay Vishwakarma
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  3. Rajmeet Singh
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  4. Ashish Singla
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  5. Subir Kumar Saha
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  6. Tarun Kumar Bera
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  7. Satinder Paul Singh
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Corresponding author

Correspondence to Sandeep Kumar .

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Editors and Affiliations

  1. Department of Mechanical Engineering, Indian Institute of Technology (Indian School of Mines), Dhanbad, India

    Sanjoy K. Ghoshal

  2. Department of Mechanical Engineering, Indian Institute of Technology Kharagpur, Kharagpur, India

    Arun K. Samantaray

  3. Department of Engineering Design, Indian Institute of Technology Madras, Chennai, India

    Sandipan Bandyopadhyay

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© 2024 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Kumar, S. et al. (2024). Design and Development of a Three-Link Rigid-Flexible Manipulator. In: Ghoshal, S.K., Samantaray, A.K., Bandyopadhyay, S. (eds) Recent Advances in Industrial Machines and Mechanisms. IPROMM 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-99-4270-1_11

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  • DOI: https://doi.org/10.1007/978-981-99-4270-1_11

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-4269-5

  • Online ISBN: 978-981-99-4270-1

  • eBook Packages: EngineeringEngineering (R0)

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