/Parallel-Manipulator-Platform

Software and Hardware files for the Circle - Parallel Manipulator Robot. This project was completed in 2021

Primary LanguageCMIT LicenseMIT

Circle - A Robotic Parallel-Manipulator-Platform

1. Project Description

Circle is an open source 6 DOF robotic parallel manipulator platform. This project was started with the aim of building a stabilization platform for critical payloads like cameras in both linear as well as rotational axes. Additional features will be added as the project matures.

Project link on my website: https://www.ayushmanchoudhuri.com/circle

2. Software

2.1 Software Packages Used

2.1.1 Software Development

  1. STM32CubeIDE - V1.2.0
  2. STM32CubeMX - V6.2.0
  3. STM-STUDIO-STM32 - V3.6.0
  4. Jupyter Notebook 6.0.1

2.1.2 Hardware Development

  1. Solidworks 2018
  2. Ultimaker Cura 3.4.1
  3. Eagle 9.6.2

2.2 Setup

2.2.1 STM Environment

  • The Circle_Software.ioc (Software > Circle_Software.ioc) file can be imported into the STM32CubeMX environment and then the pin settings of the STM32F103C8T6 microcontroller can be viewed and modified
  • The .cproject file (Software > .cproject) can be used to import the project into the STM32CUBE IDE Environment.
  • Core (Software > Core) contains all the source (Src) and the header files (inc) needed.
  • Variable Viewer (Software>Variable Viewer) contains the .tsc and .tsp files needed to view variables using STM STUDIO

2.2.2 Python - IK Analysis

  • The inverse kinematics analysis of the robot can be found in the "Inverse Kinematics Solver - Python" Folder. The file can be imported into a jupyter notebook and analysed

3. Hardware

3.1 Controller

The controller is a double sided PCB with the following components mounted on it:

  • DRV8825 Stepper Motor Driver Module
  • STM32F103C8T6 Microcontroller based development board (Blue Pill). The core is an ARM CORTEX M3
  • Mini 360 Step Down Buck Converter Power Module
  • USB to UART TTL 5V 3.3V FT232RL
  • 3 way DIP switch (To set microstepping mode of the stepper motor drivers)
  • Input port for a MPU 9250 sensor which can be attatched to the end effector for pose feedback

The controller is powered using a 12V 10A SMPS power module

3.2 Actuation

The Actuation of the robot links are done using six NEMA 17 4.4 Kgcm motors.

3.3 Robot Structure and Links

The robot has a 6 RSS structure. The CAD models can be found in the file - CAD MODELS

3.4 Manufacturing

  • All the structural support items and end effectors can be 3D printed
  • If a 3D printer cannot print the base plates of the robot, they can also be made out of Acrylic sheets (min 5mm) using laser cutting methods
  • The S-S links can be made by joining two femals M6 spherical joint bearings using a M6 threaded rod.

4. Future Work

  • Closed loop implementation and stablization using MPU 9250 sensor feedback
  • Replacement of SMPS with Lithium Polymer Battery
  • ROS Implementation
  • Replacing the STM 32 microcontroller with a Raspberry Pi 4

5. Contributing

Pull requests are welcome. For major changes, please open an issue first to discuss what you would like to change.

6. License

MIT