Kinematic analysis for a novel design of MRI-compatible torque sensor

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.

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

Journal of Mechanical Design ◽

10.1115/1.1480815 ◽

2002 ◽

Vol 124 (3) ◽

pp. 419-426 ◽

Cited By ~ 37

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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A novel design for application of pure moments in-vitro: application to the kinematic analysis of the cervical spine

Journal of Biomechanics ◽

10.1016/j.jbiomech.2013.01.006 ◽

2013 ◽

Vol 46 (6) ◽

pp. 1221-1224 ◽

Cited By ~ 1

Author(s):

Paolo Caravaggi ◽

Saad Chaudary ◽

Linda Uko ◽

Linda Chen ◽

Babak Khamsi ◽

...

Keyword(s):

Cervical Spine ◽

Kinematic Analysis ◽

Novel Design

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Kinematic Approximations in TED and RHEED Analysis of Reconstructed Surfaces

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100135587 ◽

1990 ◽

Vol 48 (2) ◽

pp. 396-397

Author(s):

L. -M. Peng ◽

M. J. Whelan

Keyword(s):

Electron Diffraction ◽

Kinematic Analysis ◽

Incident Beam ◽

High Energy ◽

Energy Electron ◽

Great Success ◽

High Energy Electron ◽

Kinematic Approximation ◽

Reconstructed Surfaces

In recent years there has been a trend in the structure determination of reconstructed surfaces to use high energy electron diffraction techniques, and to employ a kinematic approximation in analyzing the intensities of surface superlattice reflections. Experimentally this is motivated by the great success of the determination of the dimer adatom stacking fault (DAS) structure of the Si(111) 7 × 7 reconstructed surface.While in the case of transmission electron diffraction (TED) the validity of the kinematic approximation has been examined by using multislice calculations for Si and certain incident beam directions, far less has been done in the reflection high energy electron diffraction (RHEED) case. In this paper we aim to provide a thorough Bloch wave analysis of the various diffraction processes involved, and to set criteria on the validity for the kinematic analysis of the intensities of the surface superlattice reflections.The validity of the kinematic analysis, being common to both the TED and RHEED case, relies primarily on two underlying observations, namely (l)the surface superlattice scattering in the selvedge is kinematically dominating, and (2)the superlattice diffracted beams are uncoupled from the fundamental diffracted beams within the bulk.

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