Miniaturized modular manipulator design for high precision assembly and manipulation tasks

In this paper, design and control issues for the development of miniaturized manipulators which are aimed to be used in high precision assembly and manipulation tasks are presented. The developed manipulators are size adapted devices, miniaturized versions of conventional robots based on well-known kinematic structures. 3 degrees of freedom (DOF) delta robot and a 2 DOF pantograph mechanism enhanced with a rotational axis at the tip and a Z axis actuating the whole mechanism are given as examples of study. These parallel mechanisms are designed and developed to be used in modular assembly systems for the realization of high precision assembly and manipulation tasks. In that sense, modularity is addressed as an important design consideration. The design procedures are given in details in order to provide solutions for miniaturization and experimental results are given to show the achieved performances

Unimanual and Bimanual Weight Perception of Virtual Objects with a new Multi-finger Haptic Interface

Accurate weight perception is important particularly in tasks where the user has to apply vertical forces to ensure safe landing of a fragile object or precise penetration of a surface with a probe. Moreover, depending on physical properties of objects such as weight and size we may switch between unimanual and bimanual manipulation during a task. Research has shown that bimanual manipulation of real objects results in a misperception of their weight: they tend to feel lighter than similarly heavy objects which are handled with one hand only [8]. Effective simulation of bimanual manipulation with desktop haptic interfaces should be able to replicate this effect of bimanual manipulation on weight perception. Here, we present the MasterFinger-2, a new multi-finger haptic interface allowing bimanual manipulation of virtual objects with precision grip and we conduct weight discrimination experiments to evaluate its capacity to simulate unimanual and bimanual weight. We found that the bimanual ‘lighter’ bias is also observed with the MasterFinger-2 but the sensitivity to changes of virtual weights deteriorated

Monocular tracking of the human arm in 3D: real-time implementation and experiments

We have developed a system capable of tracking a human arm in 3D and in real time. The system is based on a previously developed algorithm for 3D tracking which requires only a monocular view and no special markers on the body. In this paper we describe our real-time system and the insights gained from real-time experimentation

Workspace Analysis of the Parallel Module of the VERNE Machine

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. Each leg is made up of one prismatic and two pairs of spherical joint, which are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. A method for computing the complete workspace of the VERNE parallel module for various tool lengths is presented. An algorithm describing this method is also introduced

On the Collaboration of an Automatic Path-Planner and a Human User for Path-Finding in Virtual Industrial Scenes

This paper describes a global interactive framework enabling an automatic path-planner and a user to collaborate for finding a path in cluttered virtual environments. First, a collaborative architecture including the user and the planner is described. Then, for real time purpose, a motion planner divided into different steps is presented. First, a preliminary workspace discretization is done without time limitations at the beginning of the simulation. Then, using these pre-computed data, a second algorithm finds a collision free path in real time. Once the path is found, an haptic artificial guidance on the path is provided to the user. The user can then influence the planner by not following the path and automatically order a new path research. The performances are measured on tests based on assembly simulation in CAD scenes

Investigations of collaborative design environments: A framework for real-time collaborative 3D CAD

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.This research investigates computer-based collaborative design environments, in particular issues of real-time collaborative 3D CAD. The thesis first presents a broad perspective of collaborative design environments with a preliminary case study of team design activities in a conventional and a computer mediated setting. This study identifies the impact and the feasibility of computer support for collaborative design and suggests four kinds of essential technologies for a successful collaborative design environment: information-sharing systems, synchronous and asynchronous co- working tools, project management systems, and communication systems. A new conceptual framework for a real-time collaborative 3D design tool, Shared Stage, is proposed based upon the preliminary study. The Shared Stage is defined as a shared 3D design workspace aiming to smoothly incorporate shared 3D workspaces into existing individual 3D workspaces. The addition of a Shared Stage allows collaborating designers to interact in real-time and to have a dynamic and interactive exchange of intermediate 3D design data. The acceptability of collaborative features is maximised by maintaining consistency of the user interface between 3D CAD systems. The framework is subsequently implemented as a software prototype using a new software development environment, customised by integrating related real-time and 3D graphic software development tools. Two main components of the Shared Stage module in the prototype, the Synchronised Stage View (SSV) and the Data Structure Diagram (DSD), provide essential collaborative features for real-time collaborative 3D CAD. These features include synchronised shared 3D representation, dynamic data exchange and awareness support in 3D workspaces. The software prototype is subsequently evaluated to examine the usefulness and usability. A range of quantitative and qualitative methods is used to evaluate the impact of the Shared Stage. The results, including the analysis of collaborative interactions and user perception, illustrate that the Shared Stage is a feasible and valuable addition for real-time collaborative 3D CAD. This research identifies the issues to be addressed for collaborative design environments and also provides a new framework and development strategy of a novel real-time collaborative 3D CAD system. The framework is successfully demonstrated through prototype implementation and an analytical usability evaluation.Financial support from the Department and from the UK government through the Overseas Research Studentship Awards

A generalized approach for computing the transmission index of parallel mechanisms

This paper presents a novel approach for computing the transmission index of parallel mechanisms. The approach is based on an extended concept to compute the maximal virtual coefficient, which is an important notion involved in the formulation of dimensionally homogeneous transmission indices for singularity analysis and dimensional optimization of parallel mechanisms. By exploiting the dual property of the virtual coefficient, two characteristic points instead of one as in the current state of the art are defined: one characteristic point – termed the transmission characteristic point – is located on the ‘floating’ axis of the transmission wrench, as in existing approaches, while a second one – termed the output characteristic point – is located on the floating axis of the output twist of the platform, which is a novel concept. This allows one to define two characteristic lengths, namely, the transmission and output characteristic lengths, respectively, of which the larger is then used for the measure of the “distance” between the transmission wrench screw and the output twist screw. As shown in this paper, this new measure makes it possible to discern more finely the configuration-dependent properties of kinematic performance of parallel mechanisms, thus making it more suitable for dimensional optimization. Confidence in this statement is demonstrated through the comparative study of two in-parallel mechanisms using the new method and previously existing ones

Characterization of the workspace and limits of operation of laser treatments for vascular lesions of the lower limbs

The increase of the aging population brings numerous challenges to health and aesthetic segments. Here, the use of laser therapy for dermatology is expected to increase since it allows for non-invasive and infection-free treatments. However, existing laser devices require doctors’ manually handling and visually inspecting the skin. As such, the treatment outcome is dependent on the user’s expertise, which frequently results in ineffective treatments and side effects. This study aims to determine the workspace and limits of operation of laser treatments for vascular lesions of the lower limbs. The results of this study can be used to develop a robotic-guided technology to help address the aforementioned problems. Specifically, workspace and limits of operation were studied in eight vascular laser treatments. For it, an electromagnetic tracking system was used to collect the real-time positioning of the laser during the treatments. The computed average workspace length, height, and width were 0.84 ± 0.15, 0.41 ± 0.06, and 0.78 ± 0.16 m, respectively. This corresponds to an average volume of treatment of 0.277 ± 0.093 m3. The average treatment time was 23.2 ± 10.2 min, with an average laser orientation of 40.6 ± 5.6 degrees. Additionally, the average velocities of 0.124 ± 0.103 m/s and 31.5 + 25.4 deg/s were measured. This knowledge characterizes the vascular laser treatment workspace and limits of operation, which may ease the understanding for future robotic system development.The authors acknowledge Fundação para a Ciência e a Tecnologia (FCT), Portugal and the European Social Fund, European Union, for funding support through [the “Programa Operacional Capital Humano” (POCH) in the scope of the PhD], grants number [SFRH/BD/136721/2018 (B. Oliveira) and SFRH/BD/136670/2018 (H. Torres)]. Moreover, authors gratefully acknowledge the funding of the projects “NORTE-01-0145-FEDER-000045” and “NORTE-01-0145-FEDER-000059”, supported by [Northern Portugal Regional Operational Programme (NORTE 2020), under the Portugal 2020 Partnership Agreement, through the European Regional Development Fund (FEDER)]. It was also funded by [national funds, through the FCT and FCT/MCTES in the scope of the projects UIDB/05549/2020, UIDP/05549/2020, and LASI-LA/P/0104/2020]