Design and development of board cleaning serial manipulator: Board cleaning manipulator

This paper dealt with design and development of the prototype of a serial manipulator capable of wiping a white board of given dimensions. Major focus had been laid on keeping the prototype as compact, inexpensive and portable as possible, while keeping it efficient and capable of doing the desired task. This study consisted of kinematics, dynamic analysis, design of suitable control scheme, fabrication of the prototype and testing its performance.