Lightweight design and encoderless control of a miniature direct drive linear delta robot

This paper presents the design, integration and experimental validation of a miniature light-weight delta robot targeted to be used for a variety of applications including the pick-place operations, high speed precise positioning and haptic implementations. The improvements brought by the new design contain; the use of a novel light-weight joint type replacing the conventional and heavy bearing structures and realization of encoderless position measurement algorithm based on hall effect sensor outputs of direct drive linear motors. The description of mechanical, electrical and software based improvements are followed by the derivation of a sliding mode controller to handle tracking of planar closed curves represented by elliptic fourier descriptors (EFDs). The new robot is tested in experiments and the validity of the improvements are verified for practical implementation

Mechatronic development and dynamic control of a 3-DOF parallel manipulator

This is an Author's Accepted Manuscript of an article published in Mechanics Based Design of Structures and Machines: An International Journal, 40:4, 434-452 [September 2012] [copyright Taylor & Francis], available online at: http://www.tandfonline.com/10.1080/15397734.2012.687292The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype. © 2012 Taylor & Francis Group, LLC.The authors wish to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this study under the projects DPI2009-13830-C02-01 and DPI2010-20814-C02-(01, 02). This work was also supported in part by the CDCHT-ULA Grant I-1286-11-02-B.Vallés Miquel, M.; Díaz-Rodríguez, M.; Valera Fernández, Á.; Mata Amela, V.; Page Del Pozo, AF. (2012). Mechatronic development and dynamic control of a 3-DOF parallel manipulator. Mechanics Based Design of Structures and Machines: An International Journal. 40(4):434-452. https://doi.org/10.1080/15397734.2012.687292S434452404Awtar, S., Bernard, C., Boklund, N., Master, A., Ueda, D., & Craig, K. (2002). Mechatronic design of a ball-on-plate balancing system. Mechatronics, 12(2), 217-228. doi:10.1016/s0957-4158(01)00062-9Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., & Gosselin, C. M. (1999). Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator. Journal of Mechanical Design, 122(1), 17-24. doi:10.1115/1.533542Castelli, G., Ottaviano, E., & Ceccarelli, M. (2008). A Fairly General Algorithm to Evaluate Workspace Characteristics of Serial and Parallel Manipulators#. Mechanics Based Design of Structures and Machines, 36(1), 14-33. doi:10.1080/15397730701729478Chablat, D., & Wenger, P. (2003). Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide. IEEE Transactions on Robotics and Automation, 19(3), 403-410. doi:10.1109/tra.2003.810242Clavel , R. ( 1988 ). DELTA, a fast robot with parallel geometry.Proceedings of 18th International Symposium on Industrial Robot.Switzerland: Lausanne, April, pp. 91–100 .Díaz-Rodríguez, M., Mata, V., Farhat, N., & Provenzano, S. (2008). Identifiability of the Dynamic Parameters of a Class of Parallel Robots in the Presence of Measurement Noise and Modeling Discrepancy#. Mechanics Based Design of Structures and Machines, 36(4), 478-498. doi:10.1080/15397730802446501Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007García de Jalón, J., & Bayo, E. (1994). Kinematic and Dynamic Simulation of Multibody Systems. Mechanical Engineering Series. doi:10.1007/978-1-4612-2600-0Gough , V. E. , Whitehall , S. G. ( 1962 ). Universal tire test machine.Proceedings of 9th International Technical Congress FISITA, London, pp. 117–137 .Sung Kim, H., & Tsai, L.-W. (2003). Kinematic Synthesis of a Spatial 3-RPS Parallel Manipulator. Journal of Mechanical Design, 125(1), 92-97. doi:10.1115/1.1539505Lee, K.-M., & Shah, D. K. (1988). Kinematic analysis of a three-degrees-of-freedom in-parallel actuated manipulator. IEEE Journal on Robotics and Automation, 4(3), 354-360. doi:10.1109/56.796Li, Y., & Xu, Q. (2007). Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation. IEEE/ASME Transactions on Mechatronics, 12(3), 265-273. doi:10.1109/tmech.2007.897257Merlet, J.-P. (2000). Parallel Robots. Solid Mechanics and Its Applications. doi:10.1007/978-94-010-9587-7Merlet , J. P. ( 2002 ). Optimal design for the micro parallel robot MIPS.Proceedings IEEE International Conference on Robotics and Automation, Washington, DC, pp. 1149–1154 .Ortega, R., & Spong, M. W. (1989). Adaptive motion control of rigid robots: A tutorial. Automatica, 25(6), 877-888. doi:10.1016/0005-1098(89)90054-xPaccot, F., Andreff, N., & Martinet, P. (2009). A Review on the Dynamic Control of Parallel Kinematic Machines: Theory and Experiments. The International Journal of Robotics Research, 28(3), 395-416. doi:10.1177/0278364908096236Rosillo, N., Valera, A., Benimeli, F., Mata, V., & Valero, F. (2011). Real‐time solving of dynamic problem in industrial robots. Industrial Robot: An International Journal, 38(2), 119-129. doi:10.1108/01439911111106336Stewart , D. A. ( 1965 ). A platform with 6 degree of freedom.Proceedings of the Institution of Mechanical Engineers.Part 1 15:371–386 .Syrseloudis , C. E. , Emiris , I. Z. ( 2008 ). A parallel robot for ankle rehabilitation-evaluation and its design specifications.Proceeding of 8th IEEE International Conference on BioInformatics and BioEngineering, Athens, October 1–6

Kinematics analysis of 6-DOF parallel micro-manipulators with offset u-joints : a case study

This paper analyses the kinematics of a special 6-DOF parallel micro-manipulator with offset RR-joint configuration. Kinematics equations are derived and numerical methodologies to solve the inverse and forward kinematics are presented. The inverse and forward kinematics of such robots compared with those of 6-UCU parallel robots are more complicated due to the existence of offsets between joints of RR-pairs. The characteristics of RR-pairs used in this manipulator are investigated and kinematics constraints of these offset U-joints are mathematically explained in order to find the best initial guesses for the numerical solution. Both inverse and forward kinematics of the case study 6-DOF parallel micro-manipulator are modelled and computational analyses are performed to numerically verify accuracy and effectiveness of the proposed methodologies

Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

"This is an Author's Accepted Manuscript of an article published in Cazalilla, José, Marina Vallés, Ángel Valera, Vicente Mata, and Miguel Díaz-Rodríguez. 2016. Hybrid Force/Position Control for a 3-DOF 1T2R Parallel Robot: Implementation, Simulations and Experiments. Mechanics Based Design of Structures and Machines 44 (1 2). Informa UK Limited: 16 31. doi:10.1080/15397734.2015.1030679, available online at: https://www.tandfonline.com/doi/full/10.1080/15397734.2015.1030679."[EN] A robot interacting with the environment requires that the end effector \hboxposition is tracked and that the forces of contact are kept below certain reference values. For instance, in a rehabilitation session using a robotic device, the contact forces are limited by the allowed strength of the human limbs and their complex-joints. In these cases, a control scheme which considers both position and force control is essential to avoid damage to either the end effector or the object interacting with the robot. This paper therefore develops a real-time force/position control scheme for a three-DOF parallel robot whose end effector holds a DOF one translation (1T) and two rotations (2R). The implemented hybrid force/position control considers, as a reference, the normal force on the mobile platform, which is measured by means of a load cell installed on the platform. The position control is designed to track the orientations of the robot either in joint or task space using a model-based control scheme with identified parameters. Moreover, the force control is based on a PD action. The control scheme is developed through simulations, before being applied to an actual parallel robot. The findings show that with the implemented controller, the actual robot accomplishes the reference values for the normal force on the mobile platform, while at the same time the platform accurately follows the required angular orientation.The authors wish to thank the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial funding of this study under the projects DPI2011-28507-C02-01 and DPI2013-44227-R. This work was also partially supported by the Fondo Nacional de Ciencia, Tecnologia e Innovacion (FONACIT-Venezuela).Cazalilla, J.; Vallés Miquel, M.; Valera Fernández, Á.; Mata Amela, V.; Díaz-Rodríguez, M. (2016). Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments. Mechanics Based Design of Structures and Machines. 44(1-2):16-31. https://doi.org/10.1080/15397734.2015.1030679S1631441-2Åström, K. J., & Murray, R. M. (2008). Feedback Systems. doi:10.1515/9781400828739Bellakehal, S., Andreff, N., Mezouar, Y., & Tadjine, M. (2011). Force/position control of parallel robots using exteroceptive pose measurements. Meccanica, 46(1), 195-205. doi:10.1007/s11012-010-9411-zCao, R., Gao, F., Zhang, Y., Pan, D., & Chen, W. (2014). A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace. Mechanics Based Design of Structures and Machines, 43(1), 1-18. doi:10.1080/15397734.2014.904234Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., & Gosselin, C. M. (1999). Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator. Journal of Mechanical Design, 122(1), 17-24. doi:10.1115/1.533542Clavel, R. (1988). DELTA, a fast robot with parallel geometry.Proceedings of 18th International Symposium on Industrial Robot, Lausanne, April, 91–100.Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007Diaz-Rodriguez, M., Valera, A., Mata, V., & Valles, M. (2013). Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters. IEEE/ASME Transactions on Mechatronics, 18(6), 1737-1744. doi:10.1109/tmech.2012.2212716Farhat, N., Mata, V., Page, Á., & Valero, F. (2008). Identification of dynamic parameters of a 3-DOF RPS parallel manipulator. Mechanism and Machine Theory, 43(1), 1-17. doi:10.1016/j.mechmachtheory.2006.12.011Garg, A., Vikram, C. S., Gupta, S., Sutar, M. K., Pathak, P. M., Mehta, N. K., … Gupta, V. K. (2014). Design and Development of In Vivo Robot for Biopsy. Mechanics Based Design of Structures and Machines, 42(3), 278-295. doi:10.1080/15397734.2014.898587Gough, V. E., Whitehall, S. G. (1962). Universal tire test machine.Proceedings of 9th International Technical Congress FISITA, pp. 117–135.García de Jalón, J., & Bayo, E. (1994). Kinematic and Dynamic Simulation of Multibody Systems. Mechanical Engineering Series. doi:10.1007/978-1-4612-2600-0Lee, K.-M., & Arjunan, S. (1991). A three-degrees-of-freedom micromotion in-parallel actuated manipulator. IEEE Transactions on Robotics and Automation, 7(5), 634-641. doi:10.1109/70.97875Li, Y., & Xu, Q. (2007). Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation. IEEE/ASME Transactions on Mechatronics, 12(3), 265-273. doi:10.1109/tmech.2007.897257Merlet, J.-P. (2000). Parallel Robots. Solid Mechanics and Its Applications. doi:10.1007/978-94-010-9587-7Pierrot, F., Nabat, V., Company, O., Krut, S., & Poignet, P. (2009). Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry. IEEE Transactions on Robotics, 25(2), 213-224. doi:10.1109/tro.2008.2011412Rosillo, N., Valera, A., Benimeli, F., Mata, V., & Valero, F. (2011). Real‐time solving of dynamic problem in industrial robots. Industrial Robot: An International Journal, 38(2), 119-129. doi:10.1108/01439911111106336Steward, D. A. (1965). A platform with 6 degrees of freedom.Proceedings of the Institution of Mechanical Engineers, Part 1, vol. 15, pp. 371–386.Valera, A., Benimeli, F., Solaz, J., De Rosario, H., Robertsson, A., Nilsson, K., … Mellado, M. (2011). A Car-Seat Example of Automated Anthropomorphic Testing of Fabrics Using Force-Controlled Robot Motions. IEEE Transactions on Automation Science and Engineering, 8(2), 280-291. doi:10.1109/tase.2010.2079931Vallés, M., Díaz-Rodríguez, M., Valera, Á., Mata, V., & Page, Á. (2012). Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator. Mechanics Based Design of Structures and Machines, 40(4), 434-452. doi:10.1080/15397734.2012.687292Volpe, R., & Khosla, P. (1993). A theoretical and experimental investigation of explicit force control strategies for manipulators. IEEE Transactions on Automatic Control, 38(11), 1634-1650. doi:10.1109/9.262033Zarkandi, S. (2011). Kinematics and Singularity Analysis of a Parallel Manipulator with Three Rotational and One Translational DOFs. Mechanics Based Design of Structures and Machines, 39(3), 392-407. doi:10.1080/15397734.2011.559149Zeng, G., & Hemami, A. (1997). An overview of robot force control. Robotica, 15(5), 473-482. doi:10.1017/s026357479700057

심폐소생술에 대한 수학적 모델링 기반의 접근

학위논문(박사) -- 서울대학교대학원 : 공과대학 협동과정 바이오엔지니어링전공, 2021.8. 이정찬.심폐소생술의 생리학적 현상에 대한 이해를 위해 심폐소생술의 메커니즘과 이를 기반으로 한 수학적 모델링에 대한 연구들이 많이 진행되어왔다. 하지만, 기존의 수학적 모델이 아직까지 심폐소생술 중의 혈역학적 현상을 제대로 반영하지 못하고 있는 부분이 있다. 또한, 최근 심폐소생술 연구의 방향성은 환자 맞춤형으로 나아가고 있다. 하지만, 환자 맞춤형 심폐소생술은 환자 개인의 요소 및 주변 환경 요소들의 영향을 받기 때문에 임상환경에서 접근하는 것이 쉽지 않다. 따라서, 본 연구는 시뮬레이션 기반의 이론적 연구를 통해 심폐소생술 중의 혈역학에 대한 이해와 통찰력을 제공하고자 3가지 목표를 기반으로 연구를 수행하였다. 첫번째는 현재 심폐소생술의 혈역학적 현상을 반영할 수 있는 개선된 일반화된 심폐소생모델을 개발하는 것을 목표로 하였다. 본 연구에서 제안하는 개선된 심폐소생모델은 기존 모델에 상대정맥과 하대정맥 구획을 추가하였고, “하이브리드 펌프” 메커니즘을 적용하였다. 기존 모델과 개선된 모델의 혈역학적인 현상을 비교하기 위해 다양한 기법에 대한 시뮬레이션 및 동물 모델로부터 얻은 데이터를 비교하였다. 동물 모델과 기존 모델, 개선한 모델의 압력 곡선 및 관상동맥관류압 등을 비교한 결과, 본 연구에서 개선한 모델이 현재의 심폐소생술 메커니즘을 더 잘 반영하는 심폐소생모델임을 검증하였다. 두 번째 목표는 개선한 모델을 기반으로 현재의 심폐소생술 방법으로부터 발생하는 이슈인 흉강의 탄성력 감소에 의한 부정적인 영향과 최적의 압박 위치에 대해 시뮬레이션을 통해 혈역학적인 해석을 제공하고자 하였다. 결과에서 흉강의 탄성력이 감소함에 따라 압박 중 최대 압력이 감소하며, 정맥 복귀 및 혈류 역시 감소하는 결과를 보였다. 압박 위치 변화는 심실과 심방의 압박 비율을 조절하여 시뮬레이션을 수행하였다. 이 결과에서 심실보다 심방이 더 많이 압박될 경우 1회 박출량 및 관상동맥 관류 압이 감소하면서 혈역학이 제한되는 결과를 보여주었다. 따라서, 압박 중 최대 압력 변화와 관상동맥관류압의 변화는 흉강의 탄성력 변화 추정 및 압박 위치 가이드를 해줄 수 있는 잠재력을 가질 수 있음을 입증하였다. 마지막으로 환자 맞춤형 심폐소생술모델의 가능성을 제시하고자 하였다. 본 연구에서는 유전자 알고리즘을 통해 환자 개별에 대한 심혈관계 파라미터를 추정하였고, 환자마다 다른 심혈관계 파라미터 세트를 가짐으로써 맞춤형 심혈관계 모델을 구성할 수 있음을 검증하였다. 또한, 맞춤형 심혈관계 모델에 심폐소생모델을 적용하여 심혈관계 파라미터 구성에 따라 흉부 압박 시 혈역학적 영향이 달라짐을 검증하였다. 추가적으로 돼지 모델에서 다양한 압박 조건 변화에 대한 혈역학적 변화를 비교하였고, 이를 통해 맞춤형 모델을 통해 최적의 혈역학적 효과를 갖는 압박 조건을 제시할 수 있음을 보였다. 결론적으로 본 연구를 통해 제안하는 심폐소생 모델이 현재 심폐소생술에 의한 메커니즘을 더 잘 반영하는 일반화된 모델임을 보여주었고, 이를 통해 현재 심폐소생술 방법에 의한 이슈에 대해서 혈역학적인 해석이 가능함을 입증하였다. 또한, 이를 기반으로 환자 맞춤형 심폐소생 모델의 가능성 제시함으로써 맞춤형 심폐소생 모델링에 대한 연구의 기반이 될 수 있음을 보여주었다.For a long time, many studies based on mathematical modeling have been conducted to understand cardiopulmonary resuscitation (CPR) physiology. However, some aspects of the existing CPR model do not reflect the current CPR physiology appropriately. If the generalized CPR model does not suitably reflect the hemodynamic phenomena of current CPR, errors may exist in the hemodynamic interpretation. In addition, it is suggested that the one-size-fits-all CPR specified in the guidelines is not suitable, and the direction of recent CPR research is shifting toward personalized CPR. However, in personalized CPR, it is difficult to use preclinical or clinical trial approaches because various factors associated with the patient and environment interact and affect the patient. Therefore, this study was conducted with three goals to provide insight into the hemodynamics during CPR through a simulation-based approach. The first objective was to develop an improved generalized CPR model that can reflect the current CPR physiology. The modified CPR model proposed herein added superior and inferior vena cava compartments in the thoracic cavity of the existing model, as well as a “hybrid pump” mechanism. To compare the hemodynamic effects of the existing and modified models, various maneuvers such as the active compression-decompression CPR combined with the impedance threshold device, head-up tilt, and head-down tilt were simulated. Additionally, the modified model was compared with an animal model to confirm that it reflects the current CPR physiology more than the existing model does. The comparison showed that the pressure waveform and coronary perfusion pressure (CPP) were more appropriately reflected than in the existing model. Therefore, it was verified that the improved model developed in this study is a generalized CPR model that reflects the current CPR physiology more accurately. The second goal was to verify the hemodynamic effects on the reduced thoracic elasticity and compression position—which are the current issues of the existing CPR technique—through simulation based on the improved model. The reduced elasticity of the thorax was simulated to decrease linearly for 1 min immediately after the start of CPR. The results show that as the elasticity of the thorax decreased, the pressure amplitude of the aorta and vena cava decreased during compression, along with the venous return and blood flow. Furthermore, a simple simulation was performed by adjusting the compression ratio between the ventricle and atrium with the thoracic pump factor to compare the hemodynamic difference according to the compression position. Consequently, when the atrium was compressed more than the ventricle, the stroke volume and CPP decreased, indicating that hemodynamics was limited. Therefore, it was demonstrated that a change in the pressure amplitude and CPP during compression could potentially enable estimation of the change in the elasticity of the thorax and assist in determining the position of compression. Finally, this study attempted to present the possibility of a personalized CPR model. Cardiovascular parameters were estimated for different patients using a genetic algorithm. Additionally, it was confirmed that patient-specific cardiovascular models could be constructed with different sets of parameters for each patient. Furthermore, incorporating the CPR model into the patient-specific cardiovascular model revealed that the hemodynamic effect of chest compression varies according to the cardiovascular parameter configuration. The hemodynamic changes for different compression conditions were compared in a pig model. From the results, it was shown that various hemodynamics occurred depending on the compression condition when using the personalized CPR model. Thus, it is possible to determine the optimal compression condition for the patient-specific from this. In conclusion, this study showed that the modified CPR model is a generalized model that reflects the current CPR physiology more accurately. It also proved that hemodynamic interpretation can address the limitations of the current CPR technique through the modified model. Additionally, by presenting the possibility of a patient-specific CPR model based on this, this study can serve as the basis for research on personalized CPR modeling.Chapter 1. Introduction 1 1.1 Basic understanding of cardiovascular system 2 1.1.1 Cardiac output 2 1.1.2 Venous return and Frank-Starling law 5 1.1.3 Blood circulatory system 7 1.2 Cardiopulmonary resuscitation (CPR) 10 1.2.1 Basic concept for CPR 10 1.2.2 Theories for CPR mechanism 13 1.3 Mathematical modeling for CPR 15 1.3.1 Basic concept of lumped parameter model for cardiovascular system 15 1.3.2 Previous studies on CPR modeling 20 1.4 Motivation and objectives 22 Chapter 2. Materials and Methods 29 2.1 Modified CPR model for general CPR model 30 2.1.1 Modified hybrid CPR model 30 2.1.2 Simulations of various maneuvers for CPR model 35 2.1.2.1 Active compression-decompression CPR with an impedance threshold valve (ACD-CPR+ITV) 35 2.1.2.2 Head-up tilt (HUT) and head-down tilt (HDT) 37 2.1.3 Animal experiments for hemodynamic data acquisition 39 2.1.3.1 Experimental protocol 40 2.1.3.2 Data acquisition 41 2.2 Simulation-based approach to current issues in CPR using modified hybrid CPR model 42 2.2.1 Reduced elasticity of thorax 42 2.2.1 Ventricle-atrium compression ratio (VAR) for compression position 43 2.3 Parameter estimation of simple cardiovascular model for patient-specific CPR model 45 2.3.1 Simple cardiovascular model 45 2.3.2 Genetic algorithm for parameter estimation 47 2.3.3 Application of CPR model to patient-specific cardiovascular model 49 Chapter 3. Results and Discussion 51 3.1 Modified CPR model based on general CPR model 52 3.1.1 Comparison results of animal experiments and simulations 54 3.1.2 Hemodynamic effects on the various maneuvers 58 3.1.2.1 Comparison of CPR techniques 58 3.1.2.2 HUT and HDT 60 3.2 Simulation-based approach to current issues in CPR using modified CPR model 64 3.2.1 Hemodynamic effects on reduced elasticity of thorax 64 3.2.2 Coronary perfusion pressure for various VAR 68 3.3 Parameter estimation of simple cardiovascular model for patient-specific CPR model 72 3.3.1 Verification of parameter estimation using open dataset 74 3.3.2 Application to patient-specific CPR model 88 3.4 Limitations 100 Chapter 4. Conclusion 102 4.1 Dissertation summary 103 4.2 Future works 105 References 107 Abstract in Korean 117 Acknowledgement 119 감사의 글 120박

Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

"This is an Author's Accepted Manuscript of an article published in [include the complete citation information for the final versíon of the article as published in the Mechanics Based Design of Structures and Machines 2018 [copyright Taylor & Francis], available online at: https://www.tandfonline.com/doi/10.1080/15397734.2017.1355249."[EN] Although parallel manipulators started with the introduction of architectures with six degrees of freedom, a vast number of applications require less than six degrees of freedom. Consequently, scholars have proposed architectures with three and four degrees of freedom, but relatively few four degrees of freedom parallel manipulators have become prototypes, especially of the two rotation and two translation motion types. In this article, we explain the mechatronics design, prototype, and control architecture design of a four degrees of freedom parallel manipulators with two rotation and two translation motions. We chose to design a four degrees of freedom manipulator based on the motion needed to complete the tasks of lower limb rehabilitation. To the author's best knowledge, parallel manipulators between three and six degrees of freedom for rehabilitation of lower limb have not been proposed to date. The developed architecture enhances the three minimum degrees of freedom required by adding a four degrees of freedom, which allows combinations of normal or tangential efforts in the joints, or torque acting on the knee. We put forward the inverse and forward displacement equations, describe the prototype, perform the experimental setup, and develop the hardware and control architecture. The tracking accuracy experiments from the proposed controller show that the manipulator can accomplish the required application.The authors wish to thank the Plan Nacional de I + D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial funding of this study under project DPI2013-44227-R. We also want to thank the Fondo Nacional de Ciencia, Tecnologia e Innovacion (FONACIT-Venezuela) for its financial support under the project No. 2013002165.Vallés Miquel, M.; Araujo-Gómez, P.; Mata Amela, V.; Valera Fernández, Á.; Díaz-Rodríguez, M.; Page Del Pozo, AF.; Farhat, N. (2018). Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator. Mechanics Based Design of Structures and Machines. 46(4):425-439. https://doi.org/10.1080/15397734.2017.1355249S425439464Araujo-Gómez, P., Díaz-Rodriguez, M., Mata, V., Valera, A., & Page, A. (2016). Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation. CISM International Centre for Mechanical Sciences, 303-310. doi:10.1007/978-3-319-33714-2_34Bruyninckx, H., Soetens, P., Issaris, P., Leuven, K. (2002). The Orocos Project. http://www.orocos.org.Cao, R., Gao, F., Zhang, Y., Pan, D., & Chen, W. (2014). A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace. Mechanics Based Design of Structures and Machines, 43(1), 1-18. doi:10.1080/15397734.2014.904234Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., & Gosselin, C. M. (1999). Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator. Journal of Mechanical Design, 122(1), 17-24. doi:10.1115/1.533542Cazalilla, J., Vallés, M., Valera, Á., Mata, V., & Díaz-Rodríguez, M. (2016). Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments. Mechanics Based Design of Structures and Machines, 44(1-2), 16-31. doi:10.1080/15397734.2015.1030679Chablat, D., & Wenger, P. (2003). Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide. IEEE Transactions on Robotics and Automation, 19(3), 403-410. doi:10.1109/tra.2003.810242Clavel, R. (1988). A Fast Robot with Parallel Geometry. Proc. Int. Symposium on Industrial Robots, Lausanne, Switzerland, 91–100.Díaz, I., Gil, J. J., & Sánchez, E. (2011). Lower-Limb Robotic Rehabilitation: Literature Review and Challenges. Journal of Robotics, 2011, 1-11. doi:10.1155/2011/759764Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007Escamilla, R. F., MacLeod, T. D., Wilk, K. E., Paulos, L., & Andrews, J. R. (2012). Cruciate ligament loading during common knee rehabilitation exercises. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 226(9), 670-680. doi:10.1177/0954411912451839Gan, D., Dai, J. S., Dias, J., Umer, R., & Seneviratne, L. (2015). Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement. Journal of Mechanisms and Robotics, 7(4). doi:10.1115/1.4029957Garage, W. (2009). Robot Operating System. www.ros.org. Accessed date: August 2nd, 2017.Girone, M., Burdea, G., Bouzit, M., Popescu, V., & Deutsch, J. E. (2001). Autonomous Robots, 10(2), 203-212. doi:10.1023/a:1008938121020Gough, V., Whitehall, S. (1962). Universal Tyre Test Machine. Proceedings 9th Int. Technical Congress FISITA, London, vol. 117, 117–135.Jamwal, P. K., Hussain, S., & Xie, S. Q. (2013). Review on design and control aspects of ankle rehabilitation robots. Disability and Rehabilitation: Assistive Technology, 10(2), 93-101. doi:10.3109/17483107.2013.866986Lee, K.-M., & Arjunan, S. (1992). A Three Degrees of Freedom Micro-Motion In-Parallel Actuated Manipulator. Precision Sensors, Actuators and Systems, 345-374. doi:10.1007/978-94-011-1818-7_9Li, Y., & Xu, Q. (2007). Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation. IEEE/ASME Transactions on Mechatronics, 12(3), 265-273. doi:10.1109/tmech.2007.897257Mohan, S., Mohanta, J. K., Kurtenbach, S., Paris, J., Corves, B., & Huesing, M. (2017). Design, development and control of a 2PRP-2PPR planar parallel manipulator for lower limb rehabilitation therapies. Mechanism and Machine Theory, 112, 272-294. doi:10.1016/j.mechmachtheory.2017.03.001Ortega, R., & Spong, M. W. (1989). Adaptive motion control of rigid robots: A tutorial. Automatica, 25(6), 877-888. doi:10.1016/0005-1098(89)90054-xPierrot, F., Company, O. (1999). H4: A New Family of 4 DoF Parallel Robots. Proceedings of 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Georgia, USA, 508–513.Ramsay, J. O., & Silverman, B. W. (1997). Functional Data Analysis. Springer Series in Statistics. doi:10.1007/978-1-4757-7107-7Rastegarpanah, A., Saadat, M., & Borboni, A. (2016). Parallel Robot for Lower Limb Rehabilitation Exercises. Applied Bionics and Biomechanics, 2016, 1-10. doi:10.1155/2016/8584735Stewart, D. (1965). A Platform with Six Degrees of Freedom. Proceedings of the Institution of Mechanical Engineers, 180(1), 371-386. doi:10.1243/pime_proc_1965_180_029_02Vallés, M., Cazalilla, J., Valera, Á., Mata, V., Page, Á., & Díaz-Rodríguez, M. (2015). A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation. Robotica, 35(10), 1939-1957. doi:10.1017/s0263574715000120Vallés, M., Díaz-Rodríguez, M., Valera, Á., Mata, V., & Page, Á. (2012). Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator. Mechanics Based Design of Structures and Machines, 40(4), 434-452. doi:10.1080/15397734.2012.687292Xu, W. L., Pap, J.-S., & Bronlund, J. (2008). Design of a Biologically Inspired Parallel Robot for Foods Chewing. IEEE Transactions on Industrial Electronics, 55(2), 832-841. doi:10.1109/tie.2007.909067Yoon, J., Ryu, J., & Lim, K.-B. (2006). Reconfigurable ankle rehabilitation robot for various exercises. Journal of Robotic Systems, 22(S1), S15-S33. doi:10.1002/rob.20150Zarkandi, S. (2011). Kinematics and Singularity Analysis of a Parallel Manipulator with Three Rotational and One Translational DOFs. Mechanics Based Design of Structures and Machines, 39(3), 392-407. doi:10.1080/15397734.2011.55914

Implementation of a acceleration estimator based compensation scheme to increase load data accuracy for a robotic testing system for CPR-manikins

Laerdal Medical is a producer of Cardiopulmonary Resuscitation (CPR) training manikins, all of which undergo rigorous endurance and accuracy testing. This work proposes an acceleration estimator based compensation scheme for a industrial robot manipulator product testing system with the intention of increasing load data accuracy for the purpose of product review and calibration. As part of the compensation scheme four different acceleration estimators are implemented and compared. Results indicate that the compensation scheme increases the load data accuracy by 1.5 - 6 % of the reference value depending on compression depth and spring rate. However the accuracy goal of 0.4 [kg] is not reached. The work has also uncovered the presence of position error in the robot. Thus, further improvement to the compensation scheme and positional error compensation is required

Aerospace medicine and biology: A continuing bibliography with indexes (supplement 375)

This bibliography lists 212 reports, articles, and other documents recently introduced into the NASA Scientific and Technical Information System database. Subject coverage includes the following: aerospace medicine and physiology, life support systems and man/system technology, protective clothing, exobiology and extraterrestrial life, planetary biology, and flight crew behavior and performance