Do some 3D ,Modeling (kinematics and dynamics) of a closed-chain manipulator

You can consider planar closed-chain manipulators or non-planar manipulators such as Stewart platform.D-H based forward and inverse kinematics of the manipulator (if you go with the planar closed-chain manipulator, you can use three revolute joints per chain and define two as passive and one as actuated) and building a simulator for the manipulator (which could be in v-rep or in Matlab). One way to verify your kinematics equations would be to write the kinematics equations as functions in Matlab, then send commands to the robot simulation to set some joint configurations, and check if the resulting end-effector position and orientation correspond to what you get in Matlab, etc. After that, you would use the inverse kinematics to send commands to the robot simulation to do some sequence of motions (e.g., moving the end-effector along a trajectory). Then, you could move on to some dynamics analysis of the robot and possibly a simulation of the robot interacting with some object in the environment (e.g., placing a tool on the end-effector and interacting with an object). For planar closed-chain manipulators, the following are some good references: [login to view URL] [login to view URL] [login to view URL] For the Stewart platform, look at: [login to view URL] [login to view URL]