A Novel Shoulder Exoskeleton Robot Using Parallel Actuation and a Passive Slip Interface

2016 ◽  
Vol 9 (1) ◽  
Author(s):  
Justin Hunt ◽  
Hyunglae Lee ◽  
Panagiotis Artemiadis
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Glenohumeral Joint ◽  
Translational Motion ◽  
Euler Angle ◽  
Inverse Kinematic ◽  
New Method ◽  
Novel Technologies ◽  
Manipulator Design ◽  
Spherical Parallel Manipulator

This paper presents a five degrees-of-freedom (DoF) low inertia shoulder exoskeleton. This device is comprised of two novel technologies. The first is 3DoF spherical parallel manipulator (SPM), which was developed using a new method of parallel manipulator design. This method involves mechanically coupling certain DoF of each independently actuated linkage of the parallel manipulator in order to constrain the kinematics of the entire system. The second is a 2DoF passive slip interface used to couple the user upper arm to the SPM. This slip interface increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference. An experiment to validate the kinematics of the SPM was performed using motion capture. The results of this experiment validated the SPM's forward and inverse kinematic solutions through an Euler angle comparison of the actual and command orientations. A computational slip model was created to quantify the passive slip interface response for different conditions of joint misalignment. In addition to offering a low inertia solution for the rehabilitation or augmentation of the human shoulder, this device demonstrates a new method of motion coupling, which can be used to impose kinematic constraints on a wide variety of parallel architectures. Furthermore, the presented device demonstrates a passive slip interface that can be used with either parallel or serial robotic systems.

Development of a Novel Shoulder Exoskeleton Using Parallel Actuation and Slip

2016 ◽  
Author(s):  
Justin Hunt ◽  
Panagiotis Artemiadis ◽  
Hyunglae Lee
Keyword(s):  
Glenohumeral Joint ◽  
Translational Motion ◽  
Parallel Architecture ◽  
Slip Model ◽  
Slip Mechanism ◽  
Novel Technologies ◽  
Mechanical Interference ◽  
Stiffness Characteristics ◽  
Spherical Parallel Manipulator ◽  
Kinematic Solution

This paper presents a 5 degree-of-freedom (DoF) low inertia shoulder exoskeleton that was developed using two novel technologies with a broad range of application. The first novelty is a 3-DoF spherical parallel manipulator (SPM) that uses three linear actuators. Each actuator is designed using a method of motion coupling such that the pitch and linear stroke DoF are dependent. By using an SPM, this shoulder exoskeleton takes advantage of the inherent low effective inertia property of parallel architecture. The second novelty is a 2-DoF passive slip mechanism that couples the user’s upper arm to the SPM. This slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user’s glenohumeral joint from introducing mechanical interference that could affect the device’s kinematic solution or harm the user. An experiment to validate the kinematics of the SPM was performed using motion capture. A computational slip model was created to quantify the slip mechanism’s response for different conditions of joint misalignment. In addition to offering a low inertia solution for the rehabilitation or augmentation of the human shoulder, the presented device demonstrates the technologies of actuator motion coupling and passive slip for use in exoskeletal systems. The use of motion coupling could be applied to other types of parallel actuated architectures in order to constrain the kinematics or improve stiffness characteristics. Passive slip mechanisms could have application in either serial or parallel actuated systems as a means of negating the adverse effects of joint misalignment.

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 475-485 ◽  
Author(s):  
Zhen Huang ◽  
Y. Lawrence Yao
Keyword(s):  
Closed Form ◽  
Analytical Method ◽  
Parallel Manipulator ◽  
Degree Of Freedom ◽  
New Method ◽  
Numerical Example ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper presents a new method to analyze the closed-form kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting properties are investigated, followed by a numerical example.

Kinematics Optimization of a 3-SPS Parallel Redundant Motion Mechanism Using Conformal Geometric Algebra

2015 ◽  
Vol 789-790 ◽  
pp. 889-895
Author(s):  
Jahng Hyon Park ◽  
Jeseok Kim ◽  
Jin Han Jeong
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Optimization Technique ◽  
Optimal Solution ◽  
Inverse Kinematic ◽  
Fast Reaction ◽  
Inverse Kinematic Problem ◽  
Time Optimal ◽  
Parallel Link ◽  
Spherical Parallel Manipulator

In this paper, an actuation mechanism for high-speed aiming of a target is proposed. The mechanism is a 3DOF-SPS (spherical-prismatic-spherical) parallel manipulator and can be used for a missile defense system with a fast reaction time. This type of parallel mechanism has high rigidity against external disturbances and accordingly high stiffness and precision. The target aiming requires 2 degrees of freedom and this 3 DOF mechanism has one redundancy. For fast manipulation of the proposed mechanism, the redundancy can be exploited and an optimal solution can be found out of the infinite number of inverse kinematic solutions. For finding a near time-optimal solution, a cost function is formulated considering displacement of each parallel link and an optimization technique is used for solution of the inverse kinematic problem.

Kinematics and Optimization of a Spatial 3-UPU Parallel Manipulator

1999 ◽  
Vol 122 (4) ◽  
pp. 439-446 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Sameer Joshi
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Structural Characteristics ◽  
Translational Motion ◽  
Parallel Manipulators ◽  
Condition Index ◽  
Mirror Image ◽  
Geometric Conditions ◽  
Design Variables ◽  
Opposite Limb

The structural characteristics associated with parallel manipulators are investigated. Using these characteristics a class of 3 degree-of-freedom parallel manipulators are enumerated. Several parallel manipulators with only translational degrees of freedom are identified and the 3-UPU parallel manipulator is chosen for design analysis and optimization. The kinematics of this 3-UPU parallel manipulator is studied. Two geometric conditions that lead to pure translational motion of the moving platform are described. Due to the simple kinematic structure, the inverse kinematics yields two equal and opposite limb lengths whereas the direct kinematics produces two possible manipulator postures with one being the mirror image of the other. The Jacobian matrix is derived and several singular conditions are discussed. Furthermore the conditions for existence of an isotropic point within the workspace are discussed and equations to compute the isotropic configurations of a 3-UPU manipulator are derived. Finally, we undertake architecture optimization and show that certain values of design variables maximize the global condition index of the 3-UPU manipulator. [S1050-0472(00)01404-5]

Kinematics of a Pure Translational UPS/3RPaPaR Parallel Mechanism

2007 ◽  
Author(s):  
Chung-Ching Lee ◽  
Po-Chih Lee
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Singularity Analysis ◽  
Inverse Kinematic ◽  
Geometric Constraints ◽  
Design Parameters ◽  
Numerical Illustration ◽  
The Matrix ◽  
Kinematic Analyses

From the viewpoint of kinematics, a type of 3 degrees of freedom (dofs) UPS/3RPaPaR overconstrained parallel mechanism (Pa means the hinged 4R parallelogram) with pure translational motion is presented for the development of automatic assembly devices or as a regional structure in the hybrid parallel platform. In the beginning, the formation & mobility are elucidated and the 4×4 transformation matrix & the D-H notation with specific geometric constraints verify the pure translational motion. The forward and inverse kinematic analyses are then established in the analytical closed-form through the matrix method. Besides, we take a numerical illustration for the confirmation of correctness of the derived equations. The determination of workspace is also attained by the intersection of volumes swept by each limb. In addition, the Jacobian matrix and its condition number indicated by Euclidean norm as a function of design parameters are further achieved. Finally, the singularity analysis of the configuration based on the direct and inverse kinematic J-matrix during the movement is identified in detail.

Kinematic model to control the end-effector of a continuum robot for multi-axis processing

Robotica ◽  
2015 ◽  
Vol 35 (1) ◽  
pp. 224-240 ◽  
Author(s):  
Salvador Cobos-Guzman ◽  
David Palmer ◽  
Dragos Axinte
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Euler Angle ◽  
Inverse Kinematic ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Hazardous Environments ◽  
Continuum Robot ◽  
Novel Method ◽  
Six Dof

SUMMARYThis paper presents a novel kinematic approach for controlling the end-effector of a continuum robot for in-situ repair/inspection in restricted and hazardous environments. Forward and inverse kinematic (IK) models have been developed to control the last segment of the continuum robot for performing multi-axis processing tasks using the last six Degrees of Freedom (DoF). The forward kinematics (FK) is proposed using a combination of Euler angle representation and homogeneous matrices. Due to the redundancy of the system, different constraints are proposed to solve the IK for different cases; therefore, the IK model is solved for bending and direction angles between (−π/2 to +π/2) radians. In addition, a novel method to calculate the Jacobian matrix is proposed for this type of hyper-redundant kinematics. The error between the results calculated using the proposed Jacobian algorithm and using the partial derivative equations of the FK map (with respect to linear and angular velocity) is evaluated. The error between the two models is found to be insignificant, thus, the Jacobian is validated as a method of calculating the IK for six DoF.

scholarly journals A Parallel Manipulator With Only Translational Degrees of Freedom

1996 ◽  
Author(s):  
Lung-Wen Tsai ◽  
Richard Stamper
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Translational Motion ◽  
Forward Kinematics ◽  
Closed Form Solutions ◽  
Real Solutions ◽  
Revolute Joints ◽  
Inverse Kinematics Problem ◽  
Three Degree Of Freedom

Abstract This paper presents a novel three degree of freedom parallel manipulator that employs only revolute joints and constrains the manipulator output to translational motion. Closed-form solutions are developed for both the inverse and forward kinematics. It is shown that the inverse kinematics problem has up to four real solutions, and the forward kinematics problem has up to 16 real solutions.

scholarly journals Development of a Robot Manipulator Design for Brain Surgery

2020 ◽  
pp. 48-51
Author(s):  
Didem Guzin ◽  
Erkin Gezgin
Keyword(s):  
System Reliability ◽  
Parallel Manipulator ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Brain Biopsy ◽  
Brain Surgery ◽  
Related Literature ◽  
Manipulator Design ◽  
The Brain ◽  
Spherical Parallel Manipulator

Nowadays, most of the brain surgery operations are carried out by utilizing classical surgery methodologies and equipment. Although related literature includes studies on the robotization of brain surgery systems by the help of technological advancements, these applications mostly focused on the integration of robot manipulators that are designed for industrial automation into the medical area. Thus it can be clearly seen that, there exist lack of robot manipulators that are specifically designed for brain surgery applications, have necessary precision requirements and workspace constraints. In light of this, evaluating its preprototype performance, current study focuses on the improvement of a spherical parallel manipulator structure that was designed for positioning in robotic brain biopsy by taking operation efficiency, system reliability, workspace constraints and ease of manufacturing into consideration.

scholarly journals Design, Dynamics, and Workspace of a Hybrid-Driven-Based Cable Parallel Manipulator

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
Bin Zi ◽  
Jianbin Cao ◽  
Zhencai Zhu ◽  
Peter Mitrouchev
Keyword(s):  
Parallel Manipulator ◽  
High Performance ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Parallel Manipulators ◽  
Euler Method ◽  
Heavy Load ◽  
Physical Prototype ◽  
Manipulator Design ◽  
And Control

The design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator (HDCPM) are presented. The HDCPM is able to perform high efficiency, heavy load, and high-performance motion due to the advantages of both the cable parallel manipulator and the hybrid-driven planar five-bar mechanism. The design is performed according to theories of mechanism structure synthesis for cable parallel manipulators. The dynamic formulation of the HDCPM is established on the basis of Newton-Euler method. The workspace of the manipulator is analyzed additionally. As an example, a completely restrained HDCPM with 3 degrees of freedom is studied in simulation in order to verify the validity of the proposed design, workspace, and dynamic analysis. The simulation results, compared with the theoretical analysis, and the case study previously performed show that the manipulator design is reasonable and the mathematical models are correct, which provides the theoretical basis for future physical prototype and control system design.

scholarly journals Direct and inverse kinematic problems of tripod-type parallel manipulator

Mechanika ◽  
2019 ◽  
Vol 25 (5) ◽  
pp. 391-396
Author(s):  
Baurzhan Nurakhmetov ◽  
Kuanyshbek Sartayev ◽  
Zhanat Myrzageldiyeva
Keyword(s):  
Arbitrary Number ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Complex Shape ◽  
Structural Features ◽  
Inverse Kinematic ◽  
Parallel Kinematics ◽  
Spatial Mechanisms ◽  
Machine Processing ◽  
Surgical Operations

The purpose of the work is to study the structural features of the tripod-type parallel manipulator as well as to solve direct and inverse kinematic problems for such a manipulator. The developed algorithms and computer-generated programs for synthesis and analysis of the tripod-type parallel manipulator are useful for designing spatial mechanisms with parallel kinematics with many degrees of freedom, with an arbitrary number of edges and an arbitrary arrangement of segments with different kinematic pairs that can be used in many ways. For example, the foregoing can be used in machine processing of the inner surfaces of the cavities of complex shape, during maintenance and reclamation work in pipeline, during surgical operations in medicine etc.

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