Mechanisms and Robotics lab

Developed by Dr. C.S.Kumar and Dr. K. Bhattacharyya, Institute: Indian Institute of Technology, Kharagpur

New Link of Mechanisms and Robotics Lab
http://vlabs.iitkgp.ernet.in/mr/
KGP-50
Study of a 6DOF Parallel Chain Industrial Robot.
THE FOURBAR MECHANISM
The Four bar Mechanism is studied and Simulated in MATLAB.
THE SLIDER CRANK MECHANISM
The Slider-crank mechanism is used to transform rotational motion into translational motion by means of a rotating driving beam, a connection rod and a sliding body.
INVERSE KINEMATICS OF A 6R ROBOT
Inverse kinematics of a 6R robot manipulator is shown through simulation in MATLAB
FORWARD KINEMATICS OF A 4R ROBOT
Forward Kinematics of a 4R robot manipulator is shown through simulation in MATLAB
CONTROL OF 6DOF ROBOT PUMA 560 IN REAL TIME
The PUMA 560 is used widely to teach kinematics, dynamics and control of manipulators in several universities. A Vision system is used to provide feedback and validate the performance in this experiment.
FORWARD KINEMATICS OF A 6R ROBOT
Forward kinematics (FK) mainly deals with constructing a Denavit-Hartenberg (D-H) transformation matrix with Puma's parameters obtained from a D-H parameter
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