Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - workspace analysis, workspace control, and stiffness evaluation

2004 ◽  
Author(s):  
Y. Koseki ◽  
N. Koyachi ◽  
T. Arai ◽  
K. Chinzei
Keyword(s):  
Actuation Mechanism ◽  
Workspace Analysis ◽  
Stiffness Evaluation ◽  
Remote Actuation

Hand Exoskeleton for Rehabilitation using Remote Actuation Mechanism

2017 ◽  
Vol 2017 (0) ◽  
pp. 2P1-P09
Author(s):  
Tomohito HIGUMA ◽  
Taiki YUASA ◽  
Masanori KANAZAWA ◽  
Nobutaka MUKAE ◽  
Makoto HASHIDUME ◽  
...  
Keyword(s):  
Actuation Mechanism ◽  
Remote Actuation ◽  
Hand Exoskeleton

Workspace Analysis and Going through Singularities of 5-Bar Symmetric Planar Parallel Manipulator by Automated Selective Actuation Mechanism

2012 ◽  
Vol 588-589 ◽  
pp. 1664-1668
Author(s):  
Syam Sundar ◽  
Vijay S. Rathore ◽  
Manoj K. Sahi ◽  
V. Upendran ◽  
Anjan Kumar Dash
Keyword(s):  
Closed Form ◽  
Parallel Manipulator ◽  
Parallel Manipulators ◽  
New Approach ◽  
Serial Manipulators ◽  
Actuation Mechanism ◽  
Geometric Conditions ◽  
Workspace Analysis ◽  
Planar Parallel Manipulator ◽  
Planar Parallel Manipulators

In this article‚ a new approach is presented to determine the various shapes of workspaces of 5 bar symmetric planar parallel manipulators. Here the shape of the workspace is determined by the number of ways the workspaces of the two serial manipulators intersect with each other. Geometric conditions are established in each case and area of each shape of workspace is determined in closed form. Singularity is another important consideration in the design of parallel manipulators. In this paper, an approach is presented to go through the singularity points using an automatic selective actuation mechanism. A prototype 5-bar planar manipulator is fabricated along with an automatic selective actuation mechanism demonstrating the manipulator going through the singularity points.

Crane system with remote actuation mechanism for use in argon compartment in ACPF hot cell

2016 ◽  
Vol 307 ◽  
pp. 144-154 ◽  
Author(s):  
Jong Kwang Lee ◽  
Byung-Suk Park ◽  
Seung-Nam Yu ◽  
Kiho Kim ◽  
Il-je Cho
Keyword(s):  
Actuation Mechanism ◽  
Remote Actuation

scholarly journals Leverage and Parallelogram Mechanism for Robotic Assist in Open MRI Guided Surgery Kinematics, Workspace Analysis, and Stiffness Evaluation

2004 ◽  
Vol 22 (5) ◽  
pp. 603-609
Author(s):  
Yoshihiko Koseki ◽  
Noriho Koyachi ◽  
Tatsuo Arai ◽  
Kiyoyuki Chinzei
Keyword(s):  
Open Mri ◽  
Guided Surgery ◽  
Workspace Analysis ◽  
Stiffness Evaluation ◽  
Mri Guided

scholarly journals STIFFNESS EVALUATION OF SUBMERGED FLOATING FOUNDATION MOORED BY FOUR CABLES

1993 ◽  
pp. 29-38
Author(s):  
Shigeru KURANISHI ◽  
Tetsuo IWAKUMA ◽  
Shinjiro OHMOTO ◽  
Masatoshi NAKAZAWA
Keyword(s):  
Floating Foundation ◽  
Stiffness Evaluation

Insights on the potential of vibratory actuation mechanism for enhanced performance of flapping-wing drones

Meccanica ◽  
2021 ◽  
Author(s):  
G. Throneberry ◽  
M. Hassanalian ◽  
C. M. Hocut ◽  
A. Abdelkefi
Keyword(s):  
Flapping Wing ◽  
Actuation Mechanism

KINEMATICS AND WORKSPACE ANALYSIS OF A 3 DEGREE OF FREEDOM PARALLEL MECHANISM WITH PARALLELOGRAM LINKAGE

2017 ◽  
Vol 41 (5) ◽  
pp. 922-935
Author(s):  
HongJun San ◽  
JunSong Lei ◽  
JiuPeng Chen ◽  
ZhengMing Xiao ◽  
JunJie Zhao
Keyword(s):  
Monte Carlo ◽  
Monte Carlo Method ◽  
Analytical Method ◽  
Theoretical Basis ◽  
Parallel Mechanism ◽  
Graphical Method ◽  
Degree Of Freedom ◽  
Workspace Analysis ◽  
Fixed Base ◽  
Moving Platform

In this paper, a 3-DOF translational parallel mechanism with parallelogram linkage was studied. According to the space vector relation between the moving platform and the fixed base, the direct and inverse position solutions of this mechanism was deduced through analytical method. In addition, the error of the algorithm was analyzed, and the algorithm had turned out to be effective and to have the satisfactory computational precision. On the above basis, the workspace of this mechanism was found through graphical method, which was compared with that of finding through Monte Carlo method, and there was the feasibility for analyzing the workspace of the mechanism by graphical method. The characteristic of the mechanism was analyzed by comparing the results of two analysis methods, which provided a theoretical basis for the application of the mechanism.

SynCells: A 60 × 60 μm2 Electronic Platform with Remote Actuation for Sensing Applications in Constrained Environments

ACS Nano ◽  
2021 ◽  
Author(s):  
Marek Hempel ◽  
Vera Schroeder ◽  
Chibeom Park ◽  
Volodymyr B. Koman ◽  
Mantian Xue ◽  
...  
Keyword(s):  
Sensing Applications ◽  
Remote Actuation ◽  
Constrained Environments

scholarly journals Doublel-robot coordination workspace Analysis based on Matlab

2018 ◽  
Vol 232 ◽  
pp. 03057
Author(s):  
Wei Wang ◽  
Yong Xu
Keyword(s):  
Boundary Surface ◽  
Value Theory ◽  
Working Space ◽  
The Monte Carlo Method ◽  
Workspace Analysis ◽  
Solution Equation ◽  
Space Boundary ◽  
Robot Cooperation ◽  
Limit Position ◽  
Cooperation System

Aiming at the requirements of dual robot collaborative operation, a dual robot cooperation system model is established in SolidWorks2012 software to study the dual robot cooperation space. The D-H parameters are established, and the kinematics positive solution equation is obtained. The dual robot cooperative kinematics model is given. Based on the Monte Carlo method, the workspace of the dual robot is solved. The extreme value theory method is used to analyze and calculate, so as to extract the precise boundary contour of the common area of the dual robot workspace, and the collaborative space boundary surface and limit position of the dual robot are determined. The optimal coordinated working space of the dual robot end effector is obtained, which lays a theoretical foundation for the coordinated trajectory planning of the dual robot.

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