Daniel C. Harris  

2 DOF Parallel manipulators are great for achieving high accuracy in small workspaces. For my robotics final project, my peer and I designed a MATLAB simulation that fully characterizes the workspace, configuration space and autonomous path planning of such a device. The pictures below give a brief overview of the most important plots for making this project a success. 

 

A physical prototype was also built using a pixy camera for joint position tracking and an Arduino Uno microcontroller to give servo commands. We got this physical model fully working but only under perfect lighting conditions as the resolution of the pixy camera was highly susceptible to any small changes in light. This project helped me to really grasp the most fundamental concepts in robotics and was a blast to work on!