Main objectives :

i. Design of a hydraulic power pack and development of a manipulator having two linear actuators connected to a single member by appropriate joints and the controller.

ii. Integration of the components for development of an experimental setup for performance analysis of the theoretically designed controller.

iii. Real time performance analysis of different controllers using the test set-up.

What was achieved :

i. Mathematical model of the system for simulation study.

ii. 3D CAD model and Manufacturing Drawing.

iii. Fabrication of hydraulic power pack and other components.

iv. Commissioning of the electro-hydraulically actuated parallel manipulator setup through integration of the components followed by functionality tests.

v. Off-line testing of data acquisition system and controller with the sensors and interfacing with the data acquisition and control system through a PC.

vi. Experiments for analysis of controllers for real time control through integrating motion control mechanism.