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

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

Elastokinetics modeling and characteristic analysis of the parallel robot mechanism

This paper focuses a new 4-UPS-RPS five degree of freedom (DOF) spatial parallel robot mechanism with independent intellectual property rights obtained. Based on KED method and together with finite element method, Lagrange equation and substructure modeling method, the elastokinetics analytical model of this parallel robot mechanism is established under the ideal situation. Subsequently, the research results, such as elastokinetics model, stress and frequency characteristic analysis, are obtained. Combined with typical examples, key design parameters which significantly influence the dynamic characteristics of the system, are explicated. The work done in this paper lays a solid foundation for the dynamic optimum design of parallel robot mechanism and the physical prototype development

Bifurcation and chaotic behaviors of 4-UPS-RPS high-speed parallel mechanism

In order to grasp the nonlinear characteristics of high-speed spatial parallel mechanism, the bifurcation and chaotic behaviors of 4-UPS-RPS mechanism are analyzed. Firstly, the nonlinear elastic dynamic model of the mechanism is established by using the Lagrange equation and the finite element method. Then the effects of parameters including driving angular velocity, the radius of motion trajectory, the material of driving limbs, the diameter of driving limbs, and the mass of moving platform, on the bifurcation and chaotic behaviors of high-speed spatial parallel mechanism are studied. The results show that the above parameters all have a certain influence on nonlinear characteristics of the 4-UPS-RPS high-speed spatial parallel mechanism. The research can provide important theoretical basis for the further research on the non-linear dynamics of spatial parallel mechanism

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

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

Medical robots with potential applications in participatory and opportunistic remote sensing: A review

Among numerous applications of medical robotics, this paper concentrates on the design, optimal use and maintenance of the related technologies in the context of healthcare, rehabilitation and assistive robotics, and provides a comprehensive review of the latest advancements in the foregoing field of science and technology, while extensively dealing with the possible applications of participatory and opportunistic mobile sensing in the aforementioned domains. The main motivation for the latter choice is the variety of such applications in the settings having partial contributions to functionalities such as artery, radiosurgery, neurosurgery and vascular intervention. From a broad perspective, the aforementioned applications can be realized via various strategies and devices benefiting from detachable drives, intelligent robots, human-centric sensing and computing, miniature and micro-robots. Throughout the paper tens of subjects, including sensor-fusion, kinematic, dynamic and 3D tissue models are discussed based on the existing literature on the state-of-the-art technologies. In addition, from a managerial perspective, topics such as safety monitoring, security, privacy and evolutionary optimization of the operational efficiency are reviewed

A self-balancing platform on a mobile car

In the last years, the self-balancing platform has become one of the most common candidates to use in many applications such as flight, biomedical fields, and industry. In this paper, the physical prototype of a proposed self-balancing platform that described the self-balancing attitude in the (X-axis, Y-axis, or biaxial) under the influence of road disturbance has been introduced. In the physical prototype, the inertial measurement unit (IMU) sensor will sense the disturbance in (X-axis, Y-axis, and biaxial). With the determined error, the corresponding electronic circuit, DC servo motors, and the Arduino software, the platform overcame the tilt angle(disturbance). Optimization of the proportional-integral-derivative (PID) controllers’ coefficients by the genetic algorithm method effectively affected the performance of the platform, as the platform system is stable and the platform was able to compensate for the tilt angle in (X-axis, Y-axis, and both axes) and overcome the error in a time that does not exceed four seconds. Therefore, a proposed self-balancing platform’s physical prototype has a high balancing accuracy and meets operational requirements despite the platform’s simple design

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