Utilization of Cable Guide Channels for Compact Articulation Within a Dexterous Three Degrees-of-Freedom Surgical Wrist Design

2018 ◽  
Vol 13 (1) ◽  
Author(s):  
Dale J. Podolsky ◽  
Eric Diller ◽  
David M. Fisher ◽  
Karen W. Wong Riff ◽  
Thomas Looi ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Small Body ◽  
Body Cavity ◽  
Cable Tension ◽  
Actuation Mechanism ◽  
3D Printed ◽  
Path Lengths ◽  
Three Degree Of Freedom ◽  
Robotic Applications ◽  
Three Degrees Of Freedom

Pin-jointed wrist mechanisms provide compact articulation for surgical robotic applications, but are difficult to miniaturize at scales suitable for small body cavity surgery. Solid surface cable guide channels, which eliminate the need for pulleys and reduce overall length to facilitate miniaturization, were developed within a three-degree-of-freedom cable-driven pin-jointed wrist mechanism. A prototype was 3D printed in steel at 5 mm diameter. Friction generated by the guide channels was experimentally tested to determine increases in cable tension during constant cable velocity conditions. Cable tension increased exponentially from 0 to 37% when the wrist pitched from 0 deg to 90 deg. The shape of the guide channel groove and angle, where the cable exits the channel impacts the magnitude of cable tension. A spring tensioning and cam actuation mechanism were developed to account for changing cable circuit path lengths during wrist pitch. This work shows that pulley-free cable wrist mechanisms can facilitate miniaturization below current feasible sizes while retaining compact articulation at the expense of increases in friction under constant cable velocity conditions.

Design of a Teaching Robot with Three Degrees of Freedom

2012 ◽  
Vol 619 ◽  
pp. 325-328
Author(s):  
You Jun Huang ◽  
Ze Lun Li ◽  
Zhi Cheng Huang
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Degree Of Freedom ◽  
Good Repeatability ◽  
Main Components ◽  
Opening And Closing ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom ◽  
Application Prospects

A teaching robot with three degree of freedom is designed. The three degrees of freedom are: waist rotation, lifting and stretching of the arm and opening and closing of the gripper. The designs of the main components are: a mobile chassis, parallel rails, horizontal rails and manipulator. The teaching robot designed has the features of low cost, easy to regulation, good repeatability and it has good promotion and application prospects in the field of teaching.

Architecture Optmization of a 3-DOF Parallel Mechanism

1998 ◽  
Author(s):  
J. A. Carretero ◽  
R. P. Podhorodeski ◽  
M. Nahon
Keyword(s):  
Parallel Mechanism ◽  
Architectural Design ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Design Parameters ◽  
Objective Functions ◽  
Constraint Equations ◽  
Three Degree Of Freedom ◽  
Architecture Optimization ◽  
Three Degrees Of Freedom

Abstract This paper presents a study of the architecture optimization of a three-degree-of-freedom parallel mechanism intended for use as a telescope mirror focussing device. The construction of the mechanism is first described. Since the mechanism has only three degrees of freedom, constraint equations describing the inter-relationship between the six Cartesian coordinates are given. These constraints allow us to define the parasitic motions and, if incorporated into the kinematics model, a constrained Jacobian matrix can be obtained. This Jacobian matrix is then used to define a dexterity measure. The parasitic motions and dexterity are then used as objective functions for the optimizations routines and from which the optimal architectural design parameters are obtained.

A Computational Study of Insect Wing Cross-Sectional Geometry on Flight Performance

2015 ◽  
Author(s):  
Jeffrey Feaster ◽  
Francine Battaglia ◽  
Javid Bayandor
Keyword(s):  
Cross Section ◽  
Degrees Of Freedom ◽  
Insect Flight ◽  
Computational Study ◽  
Flight Performance ◽  
Cross Sectional ◽  
Insect Wing ◽  
Agile Flight ◽  
Robotic Applications ◽  
Three Degrees Of Freedom

The influence of cross-sectional geometry on flight performance is investigated for an insect wing using bee-like kinematics. Bee flight is of particular interest due to its mechanical simplicity, utilizing only three degrees of freedom, a high flap frequency, and mechanically linked front and hind wings. These unique flapping flight kinematics result in extremely agile flight characteristics, capable of carrying extraordinary loads relative to the bee’s weight, at a biologically capable efficiency. The performance of a corrugated insect wing and a more intuitively aerodynamic profile are compared computationally. At velocities from 1–3 m/s, the approximated cross-section is foudn to overpredict the lift generated by the corrugated profile by up to 18%. At higher velocities, 4 and 5 m/s, the approximated profile underpredicts the lift generated by the corrugated cross-section by 15%. Based upon this information the cross-sectional geometry of an insect’s wing is significant to the investigation and quantification of insect flight characteristics, for both computational analysis and future robotic applications.

scholarly journals Input Rationality Analysis of Three Degree of freedom Parallel Mechanism with Limbs of Embedding Structures

2019 ◽  
Vol 10 (2) ◽  
pp. 343-353
Author(s):  
Gaowei Yang ◽  
Jianjun Zhang ◽  
Weimin Li ◽  
Kaicheng Qi
Keyword(s):  
Parallel Mechanism ◽  
Group Selection ◽  
Degrees Of Freedom ◽  
Selection Rule ◽  
Direct Application ◽  
Input Selection ◽  
Selection Theory ◽  
Coupling Relationship ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

Abstract. Three degrees of freedom (3-DoF) parallel mechanism (PM) with limbs of embedding structures is a kind of PM with a coupling relationship between limbs. In order to obtain a more desirable motion, the analysis of its actuated pairs shall be conducted. However, the fact that the existence of limbs coupling results in non-unique limb group, this mechanism has multiple limb groups. In this regard, the traditional input selection theory is not suitable for direct application in the input rationality analysis. Aiming to avoid this, a general extended input selection theory and limb group selection rule are proposed. The former tackles the traditional input selection theory which is not suitable for analyzing the input of PM with limbs of embedding structures since it does not take the influence of group into consideration, whereas the latter makes the calculation of the former easier. Based on the extended input selection theory and the limb group selection rule, the input and configuration of the 3-DoF PM with limbs of embedding structures are improved.

Topological and Geometrical Synthesis of Three-Degree-of-Freedom Fully Parallel Manipulators by Instantaneous Kinematics

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Xiaoyu Wang ◽  
Luc Baron ◽  
Guy Cloutier
Keyword(s):  
Degrees Of Freedom ◽  
Parallel Manipulators ◽  
Synthesis Process ◽  
End Effector ◽  
Numerical Examples ◽  
Passive Joint ◽  
New Synthesis ◽  
Synthesis Procedure ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

This paper presents a new synthesis procedure of fully parallel manipulators (PMs) of three degrees of freedom (DOFs) that could be implemented in a computer-aided synthesis process. Possible designs of PMs are represented by a set of unit joint twists at an initial configuration, called here topological and geometric parameters (TGPs). This makes it possible to represent PMs of all topologies and geometries in an easy and consistent way. The kinematic bond between the end effector (EE) and the base is then formulated as a set of equations involving TGPs, actuated-joint variables, and non-actuated-joint variables (passive joints). To achieve the required type of EE motion, possible topologies are first derived from tangent space analysis, and then the feasible topologies are retained by further displacement analysis. The geometries are determined such that the set of equations should be isoconstrained when passive-joint variables are taken as unknowns. The synthesis procedure of 3DOF PMs is illustrated with three numerical examples: one producing a new architecture of one translation and two rotations, while the other two producing existing architectures of translational PMs.

scholarly journals Identification of Eigen-Frequencies and Mode-Shapes of Beams with Continuous Distribution of Mass and Elasticity and for Various Conditions at Supports

2020 ◽  
Author(s):  
Triantafyllos K. Makarios
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Mass Matrix ◽  
Continuous Distribution ◽  
Local Network ◽  
Mode Shapes ◽  
Fundamental Frequencies ◽  
First Case ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

In the present article, an equivalent three degrees of freedom (DoF) system of two different cases of inverted pendulums is presented for each separated case. The first case of inverted pendulum refers to an amphi-hinge pendulum that possesses distributed mass and stiffness along its height, while the second case of inverted pendulum refers to an inverted pendulum with distributed mass and stiffness along its height. These vertical pendulums have infinity number of degree of freedoms. Based on the free vibration of the above-mentioned pendulums according to partial differential equation, a mathematically equivalent three-degree of freedom system is given for each case, where its equivalent mass matrix is analytically formulated with reference on specific mass locations along the pendulum height. Using the three DoF model, the first three fundamental frequencies of the real pendulum can be identified with very good accuracy. Furthermore, taking account the 3 × 3 mass matrix, it is possible to estimate the possible pendulum damages using a known technique of identification mode-shapes via records of response accelerations. Moreover, the way of instrumentation with a local network by three accelerometers is given via the above-mentioned three degrees of freedom.

scholarly journals Discrete Motion Prediction Based on EMG Signals

2019 ◽  
Vol 37 (3) ◽  
pp. 509-514
Author(s):  
Lei Zhang ◽  
Wendong Wang ◽  
Yikai Shi ◽  
Jiahao Liu ◽  
Yang Chu ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Recognition Accuracy ◽  
Robot Arm ◽  
Accuracy Rate ◽  
Exoskeleton Robot ◽  
Designed Experiment ◽  
Three Degree Of Freedom ◽  
Discrete Motion ◽  
Three Degrees Of Freedom

Most of the current rehabilitation equipment is bulky and slow to respond. Therefore, we designed a portable three-degree-of-freedom exoskeleton and discrete-mode control system for this situation. The three degrees of freedom of the exoskeleton robot arm was the wrist swing, the forearm lateral movement, and the elbow rotation. We collected the EMG signals of the biceps and triceps, then filtered the acquired EMG signals and extracted features in order to obtain effective information that reflected the activity intentions. Based on this, a discrete motion control method using the EMG signals to achieve elbow rotation was designed. Experiment suggests that the average pattern recognition accuracy rate can reach more than 90%.

Kinematic Analysis of a Three-DOF Parallel Mechanism for Telescope Applications

1997 ◽  
Author(s):  
J. A. Carretero ◽  
M. Nahon ◽  
B. Buckham ◽  
C. M. Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Inverse Kinematics ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Constraint Equations ◽  
Forward And Inverse Kinematics ◽  
Position And Orientation ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

Abstract This paper presents a kinematic analysis of a three-degree-of-freedom parallel mechanism intended for use as a telescope mirror focussing device. The construction of the mechanism is first described and its forward and inverse kinematics solutions are derived. Because the mechanism has only three degrees of freedom, constraint equations must be generated to describe the inter-relationship between the six Cartesian coordinates which describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. The stiffness and dexterity properties of the mechanism are then determined based on this Jacobian matrix. The mechanism is shown to exhibit desirable properties in the region of its workspace of interest in the telescope focussing application.

Location Analysis and Simulation of one Kind 4D Stereoscopic Gaming Platform

2012 ◽  
Vol 220-223 ◽  
pp. 2611-2616
Author(s):  
Jing Shun Fu ◽  
Xing Yu Zhao ◽  
Zhong Wei Ren
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Parallel Structure ◽  
Institutional Characteristics ◽  
Simulation Platform ◽  
Motion Simulation ◽  
Mathematical Formulas ◽  
Specific Position ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

The Institutions of 4D interactive three-dimensional game is essentially a three degree of freedom parallel mechanism. This papers start from introducing 3D of parallel structure, then analyzes a two-rotation a translation of the three degrees of freedom motion simulation platform, by changing the length of the three scalable support this platform achieves the specific position and orientation of the simulation platform. By the institutional characteristics, it deduces the inverse solution of the agency's position, then according to the anti-solution of their mathematical formulas, using MATLAB to simulate and analysis its trajectory, verifying the correctness and practicality of the agency model.

A Novel Compliant Mechanism with Three Degrees of Freedom

2013 ◽  
Vol 373-375 ◽  
pp. 72-75
Author(s):  
Sheng Lin ◽  
Jian Xu ◽  
Chun Wang
Keyword(s):  
Finite Element ◽  
Degrees Of Freedom ◽  
Vibration Mode ◽  
Compliant Mechanism ◽  
The Finite Element Method ◽  
Force Analysis ◽  
Redundant Constraint ◽  
Three Degree Of Freedom ◽  
Three Degrees Of Freedom

A novel compliant mechanism with three degree of freedom (DOF) is proposed, based on the method of Freedom and Constraint Topology (FACT). One movement and two rotations are obtained in Case 3, Type 2 freedom space. A redundant constraint is added to improve the symmetry. The finite element modal (FEM) is established and static force analysis is conducted. Results demonstrate that the compliant mechanism is decoupled. Modal analysis is carried out with the finite element method. And four orders natural frequency and main vibration mode are obtained.

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