Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manip-ulator mounted in series with a two degrees of freedom parallel spherical wrist. The simpler the kinematic modeling of the Or-thoglide 5-axis, the higher the maximum frequency of its control loop. Indeed, the control loop of a parallel kinematic machine should be computed with a high frequency, i.e., higher than 1.5 MHz, in order the manipulator to be able to reach high speed motions with a good accuracy. Accordingly, the direct and inverse kinematic models of the Orthoglide 5-axis, its inverse kine-matic Jacobian matrix and the first derivative of the latter with respect to time are expressed in this paper. It appears that the kinematic model of the manipulator under study can be written in a quadratic form due to the hybrid architecture of the Orthoglide 5-axis. As illustrative examples, the profiles of the actuated joint angles (lengths), velocities and accelerations that are used in the control loop of the robot are traced for two test trajectories.Comment: Appears in International Design Engineering Technical Conferences \& Computers and Information in Engineering Conference, Aug 2015, Boston, United States. 201

Parallel Manipulators

In recent years, parallel kinematics mechanisms have attracted a lot of attention from the academic and industrial communities due to potential applications not only as robot manipulators but also as machine tools. Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behaviour. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace. A great deal of research on parallel robots has been carried out worldwide, and a large number of parallel mechanism systems have been built for various applications, such as remote handling, machine tools, medical robots, simulators, micro-robots, and humanoid robots. This book opens a window to exceptional research and development work on parallel mechanisms contributed by authors from around the world. Through this window the reader can get a good view of current parallel robot research and applications

Design of a haptic device for teleoperation and virtual reality systems

IEEE International Conference on Systems, Man and Cybernetics, SMC 2009; San Antonio, TX; United States; 11 October 2009 through 14 October 2009Haptics technology has increased the precision and telepresence of the teleoperation and precision of the in-house robotic applications by force and surface information feedback. Force feedback is achieved through sending back the pressure and force information via a haptic device as the information is created or measured at the point of interest. In order to configure such a system, design, analysis and production processes of a haptic device, which is suitable for that specific application, becomes important. Today, haptic devices find use in assistive surgical robotics and most of the teleoperation systems. These devices are also extensively utilized in simulators to train medical and military personnel. The objective of this work is to design a haptic device with a new structure that has the potential to increase the precision of the robotic operation. Thus, literature is reviewed and possible robot manipulator designs are investigated to increase the precision in haptics applications. As a result of the investigations, conceptual designs are developed. Ultimately, final design is selected and produced after it is investigated in computer-aided- design (CAD) environment and its kinematic and structural analyses are carried out

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. 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Optimal dimensional synthesis of force feedback lower arm exoskeletons

This paper presents multi-criteria design optimization of parallel mechanism based force feedback exoskeletons for human forearm and wrist. The optimized devices are aimed to be employed as a high fidelity haptic interfaces. Multiple design objectives are discussed and classified for the devices and the optimization problem to study the trade-offs between these criteria is formulated. Dimensional syntheses are performed for optimal global kinematic and dynamic performance, utilizing a Pareto front based framework, for two spherical parallel mechanisms that satisfy the ergonomic necessities of a human forearm and wrist. Two optimized mechanisms are compared and discussed in the light of multiple design criteria. Finally, kinematic structure and dimensions of an optimal exoskeleton are decided

Architectural study of the design and operation of advanced force feedback manual controllers

A teleoperator system consists of a manual controller, control hardware/software, and a remote manipulator. It was employed in either hazardous or unstructured, and/or remote environments. In teleoperation, the main-in-the-loop is the central concept that brings human intelligence to the teleoperator system. When teleoperation involves contact with an uncertain environment, providing the feeling of telepresence to the human operator is one of desired characteristics of the teleoperator system. Unfortunately, most available manual controllers in bilateral or force-reflecting teleoperator systems can be characterized by their bulky size, high costs, or lack of smoothness and transparency, and elementary architectures. To investigate other alternatives, a force-reflecting, 3 degree of freedom (dof) spherical manual controller is designed, analyzed, and implemented as a test bed demonstration in this research effort. To achieve an improved level of design to meet criteria such as compactness, portability, and a somewhat enhanced force-reflecting capability, the demonstration manual controller employs high gear-ratio reducers. To reduce the effects of the inertia and friction on the system, various force control strategies are applied and their performance investigated. The spherical manual controller uses a parallel geometry to minimize inertial and gravitational effects on its primary task of transparent information transfer. As an alternative to the spherical 3-dof manual controller, a new conceptual (or parallel) spherical 3-dof module is introduced with a full kinematic analysis. Also, the resulting kinematic properties are compared to those of other typical spherical 3-dof systems. The conceptual design of a parallel 6-dof manual controller and its kinematic analysis is presented. This 6-dof manual controller is similar to the Stewart Platform with the actuators located on the base to minimize the dynamic effects. Finally, a combination of the new 3-dof and 6-dof concepts is presented as a feasible test-bed for enhanced performance in a 9-dof system