Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK

Novel Design and Analysis of Parallel Robotic Mechanisms

A parallel manipulator has several limbs that connect and actuate an end effector from the base. The design of parallel manipulators usually follows the process of prescribed task, design evaluation, and optimization. This dissertation focuses on interference-free designs of dynamically balanced manipulators and deployable manipulators of various degrees of freedom (DOFs). 1) Dynamic balancing is an approach to reduce shaking loads in motion by including balancing components. The shaking loads could cause noise and vibration. The balancing components may cause link interference and take more actuation energy. The 2-DOF (2-RR)R or 3-DOF (2-RR)R planar manipulator, and 3-DOF 3-RRS spatial manipulator are designed interference-free and with structural adaptive features. The structural adaptions and motion planning are discussed for energy minimization. A balanced 3-DOF (2-RR)R and a balanced 3-DOF 3-RRS could be combined for balanced 6-DOF motion. 2) Deployable feature in design allows a structure to be folded. The research in deployable parallel structures of non-configurable platform is rare. This feature is demanded, for example the outdoor solar tracking stand has non-configurable platform and may need to lie-flat on floor at stormy weathers to protect the structure. The 3-DOF 3-PRS and 3-DOF 3-RPS are re-designed to have deployable feature. The 6-DOF 3-[(2-RR)UU] and 5-DOF PRPU/2-[(2-RR)UU] are designed for deployable feature in higher DOFs. Several novel methods are developed for rapid workspace evaluation, link interference detection and stiffness evaluation. The above robotic manipulators could be grouped as a robotic system that operates in a green way and works harmoniously with nature

A new 3-DOF 2T1R parallel mechanism: Topology design and kinematics

This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation characteristics (POC). The PM is primarily intended for use in package sorting and delivery. The mobile platform of the PM moves along a translation axis, picks up objects from a conveyor belt, and tilts them to either side of the axis. We first calculate the PM's topological characteristics, such as the degree of freedom (DOF) and the degree of coupling, and provide its topological analytical formula to represent the topological information of the PM. Next, we solve the direct and inverse kinematic models based on the kinematic modelling principle using the topological features. The models are purely analytic and are broken down into a series of quadratic equations, making them suitable for use in an industrial robot. We also study the singular configurations to identify the serial and parallel singularities. Using the decoupling properties, we size the mechanism to address the package sorting and depositing problem using an algebraic approach. To determine the smallest segment lengths, we use a cylindrical algebraic decomposition to solve a system with inequalities.Comment: IDETC-CIE 2023 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, ASME, Aug 2023, Boston, Franc

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

International audienceThe need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance

Parallel manipulators: practical applications and kinematic design criteria. Towards the modular reconfigurable robots

Post-PrintModern robotic manipulators play an essential role in industry, developing several tasks in an easy way, enhancing the accuracy of the final product and reducing the executing time. Also they can be found in other fields as aerospace industry, several medical applications, gaming industry, and so on. In particular, the parallel manipulators have acquired a great relevance in the last years. Indeed, many research activities and projects deal with the study and develop-ment of this type of robots. Nevertheless, usually, a bilateral communication between industry and research does not exist, even among the different existing research areas. This causes a lack of knowledge regarding works that have been carried out, the ones that are under devel-opment and the possible future investigations. Hence, once a specific field of knowledge has acquired a certain level of maturity, it is convenient to reflect its current state of the art. In this sense, the authors of this paper present a review of the different fields in which parallel ma-nipulators have a significant participation, and also the most active research topics in the anal-ysis and design of these robots. Besides, several contributions of the authors to this field are cited.The authors wish to acknowledge the financial support received from the Spanish Government through the "Ministerio de Economía y Competitividad" (Project DPI2015-67626-P (MINECO/FEDER, UE)), the financial support from the Uni-versity of the Basque Country (UPV/EHU) under the program UFI 11/29 and the support to the research group, through the project with ref. IT949-16, given by the "Departamento de Educación, Política Lingüística y Cultura" of the Regional Government of the Basque Country

Kinematic Modeling and Optimization of a New Reconfigurable Parallel Mechanism

This paper investigates a new reconfigurable parallel mechanism consisting of three SvPS kinematic limbs. Induced by phase changes of a metamorphic spherical variable-axis joint (Sv), the SvPS limb is capable of changing to two typical configurations, of which one exerts no constraint and the other exerts a constraint force to the moving platform. Reconfiguration of the three limbs enables the 3-SvPS parallel mechanism to have four distinct configurations with degrees of freedom (DOF) varying from 3 to 6. Analytical model of position and workspace analysis of the reconfigurable parallel mechanism are first investigated. In terms of the screw theory, a unified Jacobian matrix covering all the mobility configurations is established and utilized for analyzing singularity of the parallel mechanism in different configurations. Further, performance analysis and optimization are explored using the motion/force transmission method. The 3-SvPS parallel mechanism can be used as structure of reconfigurable robotic machine center with adaptability to changing task requirements

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. 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Type synthesis of non-overconstrained and overconstrained two rotation and three translation (2R3T) parallel mechanisms with three branched chains

In this paper, a new synthesis method of 2R3T (R denotes rotation and T denotes translation) overconstrained and non-overconstrained parallel mechanisms (PMs) with three branched chains based on the displacement sub-manifold method is presented. Firstly, the displacement sub-manifolds of mechanisms were determined based on 2R3T motions. Subsequently, the displacement sub-manifolds of the branched chains were derived using the displacement sub-manifold theory, and their corresponding motion diagrams were provided. Additionally, a comprehensive analysis of non-overconstrained 2R3T PMs with a single-constraint branched chain was conducted, and the type synthesis of overconstrained 2R3T PMs with two or three identical constraints was also performed, accompanied by the presentation of partial mechanism diagrams. Finally, the number of DOF (degrees of freedom) of the mechanism was calculated using the modified Kutzbach–Grübler equation for a new PMs,and the screw theory was used to verify the kinematic characteristics, proving this new method's correctness.</p