STATEMENTOFPURPOSE

MSisthesec
ondhighes
tacademicdegreeawardedtoanengineerwher
ethec andi
dateac
qui
res
suf
fi
ci
entamountofres
ear
c hexposur
eandgainsspeci
ali
sat
iononapartic
ulardomain.

Whi l
elookingint heresearc
hs pecial
izat
ionoftheins t
itut
e,Iwasver ymuc hi mpress
edwi ththe
diversi
tyofres ear
c har
easofIITMadr as.
AndthusI feelthenec essi
tytospendmor eyearsin
acquiri
ngres earchknowledgei ntechnic
alfi
eldont hedi s
cipl
inebeforejoiningajob.Thi
swoul d
reall
yhelpt oimpr oveandenhanc emys kil
lsundert heguidanc eofexpertfacult
iesandc ut
ting
edgelabsfac il
iti
esintheinsti
tute.

I
nthisr
egard,
Iwoul
dliket
opersueresearc
hworkonthedomai
nofRobot
icsunderyour
gui
dance(
Srei
almani
pulat
orsandparall
elmani
pulat
ors
)

Ser
ialMani
pul
ator
s

Iamver
ymuchmoti
vat
edandent
husi
ast
iconthedomai
nofs
eri
almani
pul
ator
sinr
obot
icsand
woul
dli
ket
opers
uemyr es
ear
chandt
rai
ningonthear
ea.

Becauseofi
tsabil
it
ytorot
ateandt
rans
lat
ehi
gherdegr
eesoff
reedom(
ieupt
osi
x),
iti
smeant
toperf
ormvarioustas
kswit
hease.

Alsotheworkspac
eassoci
atedi
sver
ylar
geandareusedinvar
iousmanuf
act
uringpr
oces
ses
li
kemac hi
ningandaddi
ti
vemanufact
uri
ngespec
ial
lywhencomplexi
tyi
sdesi
redint
hefi
nal
product
.

Itgrabbedal
otofi
nter
estwhenI
per
cievedi
tsc
ompl
exmot
ionevenaf
terbec
ommi
ngver
y
elementaryi
nit
sdesi
gn.

Asarobot icar misarobotmani pulat

or ,usual lyprogrammabl e,
itsf unct i
onsar esimi l
artoa
humanappendagesl i
kear msandlegs .Thel i
nksofs uchamani pul atorar ec onnectedbyj oi
nts
all
owingei therrotati
onalmot i
onort rans l
at ionaldis
pl acement .
Onet ypeofr oboticmanipulator
whichalluredmet hemos tist
hes eri
almani pulator.
As erialmanipul atormani pulatorisaforma
openloopki nemat icchai
nwi t
hgener allyt hreer otoryjointsandf ourl inks.Thebus i
nessendof
thekinemat icchainofthemani pulat
ori sf reeandi scal l
edt heendef fectorandi tisanalogous
tothehumanhandswhi c
hmademei nclinedt owardst hear eaofrobot i
cs.Theendef fect
orcan
bedes i
gnedt operfor
manydes i
redtas ks uc haswel ding, gri
pping, spi
nni nget c.
,dependi ngon
theapplication.

Par
all
elmani
pul
ator
s:

Useofpar
all
elmanipul
ator
sinrobot
icshasbeenver
yver
sat
il
ewi
thi
tsr
ecenti
nnovat
ionseven
af
terbei
ngveryel
ementaryini
tsdesi
gn.

Par
all
elmani
pul
atori
soneoft
hear
easofr
esear
chex
tens
ivel
yst
udi
edbymanyr
esear
cher
s
fr
ompas t4-
5decades .
Unliket
hei
rseri
alcount
erpar
ts,paral
lelmani
pulatorsexhi
bithi
gher
ri
gidi
tyandcont
rollabi
li
tywhenoper
ati
ngathigherspeeds.Theseat
tri
butesleadtotheir
appli
cat
ioni
nvariousfi
eldssuc
hasmac hi
netools
,si
mul at
orsandposit
ioningsyst
ems .

Furthermore,t
hepossi
bili
tytomountthemot orsnearthefi
xedplat
for
misanattract
ivefeat
ure
ofrobotswithpar
all
elkinematict
opologi
es.Thenitcanbeusedinawiderangeofappli
cati
ons
thatrequi
repreci
si
onandhi gherpay
loadcapacitycombinedwit
hhighers
peed.

Inrecenty
ears,par
allelki
nemati
csmec hanis
mshaveattract
edalotofatt
ent
ionfromt
he
academicandindust
rialcommunit
iesduet opot
ent
ialappli
cati
onsnotonl
yasrobot
manipulat
orsbutalsoasmachinetool
s.

Ials
ounderstandthef actt hatparal
lelmani pulatorsaregaini
ngwi deaccept
anceandwoul d
becomeamaj oracti
ver es earchareafortheupc ommi ngyearsinthefiel
dofdesi
gnf ort
heir
vari
ousadvantagesviz.,
hi ghers t
if
fness,higherpr ecis
ion,hi
ghermobilit
yandbetterdynamic
capaci
ti
esathighveloc i
ties .
Theyareals ousedf orvar i
ousappli
cati
onslikes
atel
li
tepositi
oni
ng,
air
craf
tsimulator
s,precisionr equi
ri
ngt askslikeas semblyofPCBset c
.,

ThusIwouldli
ketos t
udythes
copesofser
ialmani
pul
atorsandpar
all
elmanipulators
; i
ts
ki
nematicanal
ysisandusages
othatitc
anovercomepotenti
all
imi
tat
ionsofit
sc ounterpar
ts
li
keseri
almanipulat
ors.

Thiswil
lnotonl
yhel
pmetoenhanc
emys
kil
lsbutal
sohel
pmet
oexpl
orenewpos
sibl
it
iesof
theconcer
nedmechani
sm.

Ifi
rmlybel i
evet hattheinst
itutehasthebestcl
assfaci
lit
iesforr esearchinthedomainwi thbest
facult
iesofIndiaandi t
sc ut
tingedgelabequipments.IassurethatI possesdedicat
ionand
enthus i
asmont het opic
,thoughmyknowl edgeinthedomai nisver ymuc hli
mited,Iwouldtry
myl evelbesttoper for
mt hec oncer
nedtaskwithdetermination. I
stronglybeli
evethatthe
researchprogrammeatI ITMadr aswoul
dbeani mportants t
ept owar dsreal
izi
ngmyc ar
eerand
nourishingmyr esearchgoals.