Embedded Prototype of 3 DOF Parallel Manipulator for Endoscope Application using 3 Axis MEMS Accelerometer

Kalyan Dusarlapudi, K Narasimha Raju

Accelerometers are versatile in nature to be used as tilt sensing applications. This paper deals with the tilt feedback for the parallel manipulator end effecter stability purpose. The designed parallel manipulator meant for specific position attainment driven through 3 servo motors connected to end effecter with 3 DOF. The Servos are powered and controlled using H-bridge current limiting driver. The performance of 3 servo 3 DOF end parallel manipulator is graphically and numerically analyzed with AT mega micro controller. The Accelerometer data is recorded and feedback to control the servo-based platform position. The confirmation of servo motor angle is sensed using a potentiometer for better error control. The model has achieved an accuracy of 98% rotor angle with position end effecter shift of 10cm. The 3 DOF delta robot model construction and cost estimations are recorded.

Volume 12 | Issue 2

Pages: 1225-1235

DOI: 10.5373/JARDCS/V12I2/S20201158