Novel design and kinematic analysis of a 5-DOFs robotic arm with three-fingered gripper for physical therapy

2020 ◽  
Vol 28 ◽  
pp. 2121-2132 ◽  
Author(s):  
Jyotindra Narayan ◽  
Shivansh Mishra ◽  
Gaurav Jaiswal ◽  
Santosha K. Dwivedy
Keyword(s):  
Physical Therapy ◽  
Kinematic Analysis ◽  
Robotic Arm ◽  
Novel Design

A Novel Continuum Robot Using Twin-Pivot Compliant Joints: Design, Modeling, and Validation

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Xin Dong ◽  
Mark Raffles ◽  
Salvador Cobos-Guzman ◽  
Dragos Axinte ◽  
James Kell
Keyword(s):  
Kinematic Analysis ◽  
Joint Construction ◽  
Wide Range ◽  
Continuum Robot ◽  
Adequate Accuracy ◽  
Compliant Joint ◽  
Section Design ◽  
Twisting Angle ◽  
Accuracy And Repeatability ◽  
Novel Design

A twisting problem is identified from the central located flexible backbone continuum robot. Regarding this problem, a design solution is required to mechanically minimize this twisting angle along the backbone. Further, the error caused by the kinematic assumption of previous works is identified as well, which requires a kinematic solution to minimize. The scope of this paper is to introduce, describe and teste a novel design of continuum robot which has a twin-pivot compliant joint construction that minimizes the twisting around its axis. A kinematics model is introduced which can be applied to a wide range of twin-pivot construction with two pairs of cables per section design. And according to this model, the approach for minimising the kinematic error is developed. Furthermore, based on the geometry and material property of compliant joint, the work volumes for single/three-section continuum robot are presented, respectively. The kinematic analysis has been verified by a three-section prototype of continuum robot and adequate accuracy and repeatability tests carried out. And in the test, the system generates relatively small twisting angles when a range of end loads is applied at the end of the arm. Utilising the concept presented in this paper, it is possible to develop a continuum robot which can minimize the twisting angle and be accurately controlled. In this paper, a novel design of continuum robot which has a twin-pivot compliant joint construction that minimizes the twisting around its axis is introduced, described and tested. A kinematics model is introduced which can be applied to a wide range of twin-pivot construction with two pairs of cables per section design. Furthermore, based on the geometry and material property of compliant joint, the work volumes for single/three-section continuum robot are presented, respectively. Finally, the kinematic analysis has been verified by a three-section prototype of continuum and adequate accuracy and repeatability tests carried out.

Upper Arm Exoskeleton Using Robotic Arm for Physiotherapy

2018 ◽  
Vol 6 (8) ◽  
pp. 190
Author(s):  
Ramya .V ◽  
Prasanalakshmi .V ◽  
Ranjani .M .P ◽  
Revathi .G ◽  
Rajeswari .P
Keyword(s):  
Coronary Heart Disease ◽  
Heart Disease ◽  
Physical Therapy ◽  
Motor Function ◽  
Causes Of Death ◽  
Stroke Survivor ◽  
Routine Activities ◽  
Robotic Arm ◽  
Upper Arm ◽  
Bilateral Movement

Stroke is a major cause of disability in worldwide and also one of the causes of death after coronary heart disease. Many devices had been designed for hand motor function rehabilitation that a stroke survivor can use for bilateral movement practice. This paper deals with the rehabilitation of upper arm by an Arm exoskeleton. This can be used for physical therapy and to assist the user with routine activities. Ultimately, the user should feel as if they are in control of their arm without too much effort while providing smooth movements depending on the direction that is desired.

Design and Singularity Analysis of a 3-Translational-DOF In-Parallel Manipulator*

2002 ◽  
Vol 124 (3) ◽  
pp. 419-426 ◽  
Author(s):  
L. Romdhane ◽  
Z. Affi ◽  
M. Fayet
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
Singularity Analysis ◽  
Orientation Error ◽  
Kinematic Chains ◽  
Prismatic Joints ◽  
Forward Kinematic ◽  
3D Solid ◽  
Novel Design

In this work, we shall present a novel design of a 3-translational-DOF in-parallel manipulator having 3 linear actuators. Three variable length legs constitute the actuators of this manipulator, whereas two other kinematic chains with passive joints are used to eliminate the three rotations of the platform with respect to the base. This design presents several advantages compared to other designs of similar 3-translational-dof parallel manipulators. First, the proposed design uses only revolute or spherical joints as passive joints and hence, it avoids problems that are inherent to the nature of prismatic joints when loaded in arbitrary way. Second, the actuators are chosen to be linear and to be located in the three legs since this design presents higher rigidity than other. In the second part of this paper, we addressed the problem of kinematic analysis of the proposed in-parallel manipulator. A mixed geometric and vector formulation is used to show that two solutions exist for the forward kinematic analysis. The problem of singularities is also investigated using the same method. In this work, we investigated the singularities of the active legs and the two types of singularity were identified: architectural singularities and configurational singularities. The singularity of the passive chains, used to restrict the motion of the platform to only three translations, is also investigated. In the last part of this paper, we built a 3D solid model of the platform and the amplitude of rotation due to the deformation of the different links under some realistic load was determined. This allowed us to estimate the “orientation error” of the platform due to external moments. Moreover, this analysis allowed us to compare the proposed design (over constrained) with a modified one (not over constrained). This comparison confirmed the conclusion that the over constraint design has a better rigidity.

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