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Master Slave Articulated Manipulator Analysis
Location - Bhabha Atomic Research Centre Bombay
Mentor - Dr.Jayarajan (Outstanding Scientist)
Project Abstract -
Under analysis of articulated master-slave manipulators, a study of different types of wire-ropes was done. A program for simulating the manipulator was made in matlab software. It shows the path followed by the end points of the master side and slave side of the manipulator. Experiments were carried out to find the error in
the movement of the slave side due to friction between rope wires and pulleys, slipping of wire on pulleys, slacking of rope wire, backlash error of gears etc.
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