Publication

Abstract : The parallel manipulator is a very precise and accurate mechanism over serial mechanism, which can withstand high payloads. It is used in a wide range of applications in the prominent areas, such as aircraft testing, flight simulator, 3D printing, and in medical applications. In the present paper, an attempt is made to track the special objects using a 6-DOF parallel manipulator after utilizing inverse kinematics. The manipulator used here is Physik Instrument (PI) based 6-DOF SPS HEXAPOD. This work is divided into two parts. First one is to find the position and orientation of 3D-object using two HD cameras mounted in two mutually perpendicular planes. The second task involves the execution of the actual motion of parallel manipulator joints derived using the concept of inverse kinematics approach for tracking of that object. Simulations are performed in MATLAB environment for the inverse kinematics of the Stewart-platform. The experimental results show that the Stewart parallel manipulator has successfully tracked the objects that are moving in straight and circular paths.