Kinematic Modeling and Analysis of a Novel Bio-Inspired and Cable-Driven Hybrid Shoulder Mechanism

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
A. S. Niyetkaliyev ◽  
E. Sariyildiz ◽  
G. Alici
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Kinematic Modeling ◽  
Interaction Forces ◽  
Modeling And Analysis ◽  
Shoulder Joints ◽  
Hybrid Mechanism ◽  
Simulation Results

Abstract The robotic shoulder rehabilitation exoskeletons that do not take into consideration all shoulder degrees-of-freedom (DOFs) lead to undesirable interaction forces and cause discomfort to the patient due to the joint axes misalignments between the exoskeleton and shoulder joints. In order to contribute to the solution of this human–robot compatibility issue, we present the kinematic modeling and analysis of a novel bio-inspired 5-DOFs hybrid human–robot mechanism (HRM). The human limbs are regarded as the inner passive restrained links in the proposed hybrid constrained anthropomorphic mechanism. The proposed hybrid mechanism combines serial and parallel manipulators with rigid and cable links enabling a match between human and exoskeleton joint axes. It is designed to cover the whole range of motion of the human shoulder with the workspace free of singularities. The numerical and simulation results from the computer-aided drawing model of the mechanism are presented to demonstrate the validity of the kinematic model, and the kinematic and singularity merits of the proposed mechanism. A three-dimensional printed prototype of the hybrid mechanism was fabricated to further validate the kinematic model and its overall advantages.

Determination of the Workspace of a Three-Degrees-of-Freedom Parallel Manipulator Using a Three-Dimensional Computer-Aided-Design Software Package and the Concept of Virtual Chains1

2015 ◽  
Vol 8 (2) ◽  
Author(s):  
Andrew Johnson ◽  
Xianwen Kong ◽  
James Ritchie
Keyword(s):  
Computer Aided Design ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Graphical Representation ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Workspace Analysis ◽  
Computer Aided ◽  
Aided Design

The determination of workspace is an essential step in the development of parallel manipulators. By extending the virtual-chain (VC) approach to the type synthesis of parallel manipulators, this technical brief proposes a VC approach to the workspace analysis of parallel manipulators. This method is first outlined before being illustrated by the production of a three-dimensional (3D) computer-aided-design (CAD) model of a 3-RPS parallel manipulator and evaluating it for the workspace of the manipulator. Here, R, P and S denote revolute, prismatic and spherical joints respectively. The VC represents the motion capability of moving platform of a manipulator and is shown to be very useful in the production of a graphical representation of the workspace. Using this approach, the link interferences and certain transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.

scholarly journals Conceptual Design and Computational Modeling Analysis of a Single-Leg System of a Quadruped Bionic Horse Robot Driven by a Cam-Linkage Mechanism

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liangwen Wang ◽  
Weiwei Zhang ◽  
Caidong Wang ◽  
Fannian Meng ◽  
Wenliao Du ◽  
...  
Keyword(s):  
Motion Analysis ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Structural Parameters ◽  
Three Dimensional ◽  
Kinematic Modeling ◽  
Linkage Mechanism ◽  
Vector Method ◽  
Pressure Angle ◽  
End Point

In this study, the configuration of a bionic horse robot for equine-assisted therapy is presented. A single-leg system with two degrees of freedom (DOFs) is driven by a cam-linkage mechanism, and it can adjust the span and height of the leg end-point trajectory. After a brief introduction on the quadruped bionic horse robot, the structure and working principle of a single-leg system are discussed in detail. Kinematic analysis of a single-leg system is conducted, and the relationships between the structural parameters and leg trajectory are obtained. On this basis, the pressure angle characteristics of the cam-linkage mechanism are studied, and the leg end-point trajectories of the robot are obtained for several inclination angles controlled by the rotation of the motor for the stride length adjusting. The closed-loop vector method is used for the kinematic analysis, and the motion analysis system is developed in MATLAB software. The motion analysis results are verified by a three-dimensional simulation model developed in Solidworks software. The presented research on the configuration, kinematic modeling, and pressure angle characteristics of the bionic horse robot lays the foundation for subsequent research on the practical application of the proposed bionic horse robot.

New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Samer Alfayad ◽  
Fethi B. Ouezdou ◽  
Faycal Namoun
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Power Transmission ◽  
Mechanical Design ◽  
Humanoid Robots ◽  
Classical Solutions ◽  
Kinematic Modeling ◽  
New Class ◽  
Hybrid Mechanism ◽  
And Control

This paper deals with the design of a new class of hybrid mechanism dedicated to humanoid robotics application. Since the designing and control of humanoid robots are still open questions, we propose the use of a new class of mechanisms in order to face several challenges that are mainly the compactness and the high power to mass ratio. Human ankle and wrist joints can be considered more compact with the highest power capacity and the lowest weight. The very important role played by these joints during locomotion or manipulation tasks makes their design and control essential to achieve a robust full size humanoid robot. The analysis of all existing humanoid robots shows that classical solutions (serial or parallel) leading to bulky and heavy structures are usually used. To face these drawbacks and get a slender humanoid robot, a novel three degrees of freedom hybrid mechanism achieved with serial and parallel substructures with a minimal number of moving parts is proposed. This hybrid mechanism that is able to achieve pitch, yaw, and roll movements can be actuated either hydraulically or electrically. For the parallel submechanism, the power transmission is achieved, thanks to cables, which allow the alignment of actuators along the shin or the forearm main axes. Hence, the proposed solution fulfills the requirements induced by both geometrical, power transmission, and biomechanics (range of motion) constraints. All stages including kinematic modeling, mechanical design, and experimentation using the HYDROïD humanoid robot’s ankle mechanism are given in order to demonstrate the novelty and the efficiency of the proposed solution.

Jacobian approach to the kinestatic analysis of a full vehicle model with application to cornering motion analysis

2020 ◽  
Vol 234 (18) ◽  
pp. 3543-3559
Author(s):  
Guofeng Zhou ◽  
Junwoo Kim ◽  
Yong Je Choi
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Kinematic Chain ◽  
Contact Model ◽  
Vehicle Body ◽  
Spatial Parallel Mechanism ◽  
6 Degrees Of Freedom ◽  
Instantaneous Screw

The Jacobian approach to the kinestatic analysis of a planar suspension mechanism has been previously presented. In this paper, the theory is extended to three-dimensional kinestatic analysis by developing a full kinematic model and viewing it as a spatial parallel mechanism. The full kinematic model consists of two pairs of the front (double wishbone) and rear (multi-link) suspension mechanisms together with a newly developed ground-wheel contact model. The motion of each wheel of four suspension mechanisms is represented by the corresponding instantaneous screw at any instant. A vehicle is considered to be a 6-degrees-of-freedom spatial parallel mechanism whose vehicle body is supported by four serial kinematic chains. Each kinematic chain consists of a virtual instantaneous screw joint and a kinematic pair representing ground-wheel contact model. The kinestatic equation of the 6-degrees-of-freedom spatial parallel mechanism is derived in terms of the Jacobian. As an important application, a cornering motion of a vehicle is analysed under the assumption of steady-state cornering. A numerical example is presented to illustrate how to determine the optimal locations of strut springs for the least roll angle in cornering motion using the proposed method.

Grasshopper Knee Joint – Inverse Kinematic Modeling and Simulation of Ionic Polymer Metal Composites (IPMC) Actuators

2014 ◽  
Vol 19 ◽  
pp. 1-11 ◽  
Author(s):  
Muhammad Farid ◽  
Zhao Gang ◽  
Tran Linh Khuong ◽  
Zhuang Zhi Sun ◽  
Naveed Ur Rehman
Keyword(s):  
Knee Joint ◽  
Low Voltage ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Ionic Polymer ◽  
Wolfram Mathematica ◽  
Polymer Metal ◽  
Transcendental Functions ◽  
Simulation Results

Biomimetic is the field of engineering in which biological structures and functions are analyzed and are used as the basis for the design and manufacturing of machines. Insects are the most populated creature and present everywhere in the world and can survive the most hostile environmental situations. IPMC is a smart material which has exhibited a significant bending and tip force after the application of a low voltage. It is light-weighted, flexible, easily actuated, multi-directional applicable and requires simple manufacturing.In this paper,five different contributions are made. Firstly, a two link grasshopper knee joint physical model is presented in which the actuation force required for moving the knee is provided by the IPMC material. This material constitutes one link of the linkage. Secondly,inverse kinematic modelhas been developed for the linkage. Thirdly, the system of equations is solved by proposing solutions to the known transcendental functions with unknown coefficients. Fourthly, wolfram mathematica is employed for thesimulationof the model. Finally,angles, velocity and accelerationof the links are analyzed based on the simulation results. The simulation results show that the tibia is displaying a lag in time from the femur verifying that it is operated by the force provided by the femur (IPMC). Also, it verified the flexible nature of the IPMC material through multiple peaks and troughs in the graphs. The angles range of the tibia is found quite admirable and it is believed that the IPMC material can add a new horizon to the manufacturing of small biomimetic equipment and low force actuated manipulators.

scholarly journals Kinematics modeling of a two DOFs continuum manipulator with uniform notches

2020 ◽  
Vol 309 ◽  
pp. 05006
Author(s):  
Xiaolong Wang ◽  
Haodong Wang ◽  
Zhijiang Du ◽  
Wenlong Yang
Keyword(s):  
Friction Coefficient ◽  
Degrees Of Freedom ◽  
Elliptic Integral ◽  
Load Capacity ◽  
Kinematic Model ◽  
Kinematic Modeling ◽  
Flexible Beams ◽  
Kinematics Modeling ◽  
Single Port Laparoscopy ◽  
Continuum Manipulator

Continuum manipulators have been widely adopted for single-port laparoscopy (SPL). A novel continuum manipulator with uniform notches which has two degrees of freedom (DOFs) is presented in this paper. The arrangement of flexible beams makes it own a higher load capacity. Its kinematic model is coupled with the mechanical model. The comprehensive elliptic integral solution (CEIS) is more practical in the actual deformation of the flexible beams. Based on that method, kinematics modeling is established from the driven space to the Cartesian space. The friction coefficient is an important factor which can affect the kinematic modeling. Therefore, an experimental platform is established to obtain the friction coefficient. The kinematic modeling is verified through the prototype. Experimental results show that the model has high precision.

scholarly journals A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

2013 ◽  
Vol 8-9 ◽  
pp. 574-583 ◽  
Author(s):  
Calin Vaida ◽  
Bogdan Gherman ◽  
Doina Pislă ◽  
Nicolae Plitea
Keyword(s):  
Ct Scan ◽  
Visual Feedback ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Medical Applications ◽  
Robotic Device ◽  
Needle Placement ◽  
Viable Solution ◽  
Simulation Results ◽  
Deep Target

Several medical applications require devices capable of placing different substances inside the human body. Due to the nature of the task it is desirable to perform these actions with visual feedback, whereas the most viable solution, especially for deep target points, is computer tomography (CT). The paper presents an innovative device, which can be fitted inside the CT gantry, and has decoupled motions to ensure maximum accuracy during the needle placement. It will be shown that for needle placement tasks 5 degrees of freedom (DOF) are sufficient to achieve the task. The geometric and kinematic model of the robot will be presented. The workspace and precision mapping are computed. Some simulation results will show the robot capabilities as well as its placement in the CT scan environment.

The Qualitative Synthesis of Parallel Manipulators

2004 ◽  
Vol 126 (4) ◽  
pp. 617-624 ◽  
Author(s):  
Jorge Angeles
Keyword(s):  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Parallel Manipulators ◽  
Qualitative Reasoning ◽  
Rigid Bodies ◽  
Three Dimensions ◽  
Qualitative Synthesis ◽  
Motion Representation ◽  
Six Degrees Of Freedom ◽  
Three Degrees Of Freedom

As shown in this paper, when designing parallel manipulators for tasks involving less than six degrees of freedom, the topology can be laid out by resorting to qualitative reasoning. More specifically, the paper focuses on cases whereby the manipulation tasks pertain to displacements with the algebraic structure of a group. Besides the well-known planar and spherical displacements, this is the case of displacements involving: rotation about a given axis and translation in the direction of the same axis (cylindrical subgroup); translation in two and three dimensions (two- and three-dimensional translation subgroups); three independent translations and rotation about an axis of fixed direction, what is known as the Scho¨nflies subgroup; and similar to the Scho¨nflies subgroup, but with the rotation and the translation in the direction of the axis of rotation replaced by a screw displacement. For completeness, the fundamental concepts of motion representation and groups of displacements, as pertaining to rigid bodies, are first recalled. Finally, the concept of Π-joint, introduced elsewhere, is generalized to two and three degrees of freedom, thereby ending up with the Π2-and the Π3-joints, respectively.

Kinematic Modeling and Analysis of a Multifingered Robotic Hand

2011 ◽  
Vol 383-390 ◽  
pp. 6684-6688
Author(s):  
P.K. Parida ◽  
Bibhuti Bhusan Biswal ◽  
M. R. Khan
Keyword(s):  
Development Process ◽  
Medical Robotics ◽  
Rehabilitation Robotics ◽  
Robotic Hand ◽  
Kinematic Modeling ◽  
Robotic Hands ◽  
Modeling And Analysis ◽  
Its Analysis ◽  
Robot Hands ◽  
Simulation Results

Precise and secure handling of flexible or irregularly shaped objects by robotic hands has become a challenge. Robot hands used in medical robotics and rehabilitation robotics need to be anthropomorphic to do the desired tasks. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes poses several problems due to control, manufacturing and economic reasons. The present work aims at designing and developing a robotic hand with five fingers for manipulation of objects. The kinematic modeling and its analysis, as a part of the development process is presented in this paper. The simulation results of the hand shows that the conceptualized design is yielding the desired result and works very efficiently.

Conceptual Design of Lower-Mobility Parallel Manipulators Based on Wrench Graphs

2014 ◽  
Author(s):  
Gamal El-Ghazaly ◽  
Stéphane Caro
Keyword(s):  
Degrees Of Freedom ◽  
A Priori ◽  
Three Dimensional ◽  
Main Idea ◽  
Parallel Manipulators ◽  
Geometric Constraints ◽  
Design Stage ◽  
Case Scenario ◽  
Worst Case ◽  
Lower Mobility

This paper presents a design methodology for lower-mobility parallel manipulators based on classification of wrench systems into four main classes. Wrench systems are represented in a three-dimensional projective space ℙ3 using wrench graphs where it is easy to incorporate geometric constraints to have simple singularity conditions using Grassmann-Cayley algebra (GCA). The main idea of the approach is to design a PM with an overall (constraint and actuation) wrench system that complies with a given wrench graph for which singularity conditions have been predetermined. The main advantage of this methodology is that the singularity conditions are already known a priori and consequently, it gives an opportunity to avoid such conditions at the design stage and make them unreachable. In the worst case scenario, where none of singularity conditions cannot be avoided, one can have a PM with known singular configurations which are always difficult to determine for already designed manipulators. As illustrative examples, two different five degrees-of-freedom (dof) mechanisms have been designed based on some of the defined wrench graphs giving 3T2R motion pattern. The first mechanism has some avoided singularities and the second one is free of singularity.

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