Development and 3D Spatial Calibration of a Parallel Robot for Percutaneous Needle Procedures with 2D Ultrasound Guidance

2017 ◽  
Vol 02 (04) ◽  
pp. 1750007 ◽  
Author(s):  
Awais Ahmad ◽  
S. Orcun Orhan ◽  
Mehmet C. Yildirim ◽  
Ozkan Bebek
Keyword(s):  
Mechanical Design ◽  
Parallel Robot ◽  
Design System ◽  
Medical Interventions ◽  
3D Space ◽  
Volume Of Interest ◽  
2D Ultrasound ◽  
Novel Method ◽  
Friction Models ◽  
Spatial Calibration

Robotic systems are being applied to medical interventions as they increase the operational accuracy. The proposed autonomous and ultrasound guided 5-DOF parallel robot can achieve such accuracy for needle biopsies, which particularly demand precise needle positioning and insertion. In this paper, the robot’s mechanical design, system identifications, and the design of its controller are explained. A torque computed controller with gravity compensation and friction models, yielding a 0.678[Formula: see text]mm RMS position error for the needle tip, was used. A novel method was used for 3D space calibration of the images for detecting the volume of interest in the biopsy procedure by a multipoint crosswire phantom with parallel threads. The calibration technique had a validation RMS error of 0.03[Formula: see text]mm.

“IRIS” A Computerized High Head Pump Turbine Design System

1977 ◽  
Vol 99 (3) ◽  
pp. 567-577
Author(s):  
S. Chacour ◽  
J. E. Graybill
Keyword(s):  
Mechanical Design ◽  
Design Parameters ◽  
Design System ◽  
Performance Requirements ◽  
Manufacturing Process Planning ◽  
Depth Analysis ◽  
High Head ◽  
Critical Components ◽  
Limited Input Data ◽  
Turbine Design

“IRIS” is a computerized design and structural optimization system capable of generating all the major hydraulic and mechanical design parameters of high head pump/turbines from limited input data. The program will size the unit and select the proper hydraulic passage configuration according to performance requirements and optimize the dimensions of all the major components, generate command tapes used by a numerically controlled flame cutter, estimate cost, and issue manufacturing process planning. It also generates finite element models for the “in depth” analysis of critical components.

scholarly journals Mobile parallel robot machine for heavy-duty double-walled vacuum vessel assembly

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Changyang Li ◽  
Huapeng Wu ◽  
Harri Eskelinen ◽  
Haibiao Ji
Keyword(s):  
Computer Aided Design ◽  
Fusion Reactor ◽  
Mechanical Design ◽  
Industrial Robot ◽  
Parallel Robot ◽  
Tig Welding ◽  
Inert Gas ◽  
Vacuum Vessel ◽  
Content Type ◽  
Simulation And Optimization

Purpose This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied. Design/methodology/approach First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation. Findings Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements. Originality/value This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.

Dynamic Identification of Industrial Robots from Low-Sampled Data

2013 ◽  
Vol 328 ◽  
pp. 644-650 ◽  
Author(s):  
E. Oliva ◽  
G. Berselli ◽  
F. Pini
Keyword(s):  
Previous Literature ◽  
Industrial Robots ◽  
Sampled Data ◽  
Dynamic Identification ◽  
Inertial Parameters ◽  
Novel Method ◽  
Friction Models

This paper proposes a fast and on-site method for the dynamic identification of industrial robots from low-sampled position and torque data. Owing to the basic architecture of the employed controller, only trapezoidal-velocity trajectories can be enforced for identification purposes. Differently from previous literature, where this kind of trajectories were performed with limited joint velocities and range of motions, the procedure proposed hereafter is characterized by fast movements performed on wide angular ranges. Furthermore, in order to identify the influence of friction without deriving complex friction models, a novel method is outlined that decouples frictional torques from gravitational, centrifugal and inertial ones. Finally, although multiple experiments of different kinds have been performed, inertial parameters are determined in one singular step, thus avoiding possible error increase due to sequential identification algorithms.

A Cooperative-Collaborative Design System for Multi-Disciplinary Mechanical Design

2005 ◽  
Author(s):  
Zhiqiang Chen ◽  
Zahed Siddique
Keyword(s):  
Product Design ◽  
Design Process ◽  
Collaborative Design ◽  
Process Model ◽  
Mechanical Design ◽  
System Level ◽  
Design System ◽  
Design Collaboration ◽  
Design Activities ◽  
Design Process Model

The emergence of computer and network technology has provided opportunities for researchers to construct and build systems to support dynamic, real-time, and collaborative engineering design in a concurrent manner. This paper provides an understanding of the product design in a distributed environment where designers are in different geographic locations and are required to be involved in the design process to ensure successful product design. A design process model that captures the major interactions among stakeholders is presented, based on the observation of cooperation and collaboration. The stakeholders’ interactions are divided into activity and system level to distinguish the interactions in group design activities and design perspective evolution. An initial computer implementation of the design model is presented. The design system consists of a set of tools associated with design and a management system to facilitate distributed designers to support various design activities, especially conceptual design. Our research emphasis of design collaboration in this paper is: (i) Model a Cooperative-collaborative design process; (ii) Support synchronized design activities; and (iii) Structure the complex relations of various design perspectives from engineering disciplines.

Mechanical design, kinematic control and teleoperation of the parallel robot robmep

2003 ◽  
Vol 36 (17) ◽  
pp. 301-306
Author(s):  
Cecilía E. García ◽  
Rafaél Aracil ◽  
Roque Saltarén ◽  
María A. Scarano
Keyword(s):  
Mechanical Design ◽  
Parallel Robot ◽  
Kinematic Control

Toward Effective Mechanical Design Reuse: CAD Model Retrieval Based on General and Partial Shapes

2009 ◽  
Vol 131 (12) ◽  
Author(s):  
Min Li ◽  
Y. F. Zhang ◽  
J. Y. H. Fuh ◽  
Z. M. Qiu
Keyword(s):  
Computer Aided Design ◽  
Mechanical Design ◽  
Three Dimensional ◽  
Cad Model ◽  
Model Retrieval ◽  
Cad Models ◽  
Feature Based ◽  
Novel Method ◽  
Aided Design ◽  
Model Similarity

In product design, a large proportion of three-dimensional (3D) computer-aided design (CAD) models can be reused to facilitate future product development due to their similarities in function and shape. This paper presents a novel method that incorporates modeling knowledge into CAD model similarity assessment to improve the effectiveness of reuse-oriented retrieval. First, knowledge extraction is performed on archived feature-based CAD models to construct feature dependency directed acyclic graph (FDAG). Second, based on the FDAG subgraph decomposition, two useful component partitioning approaches are developed to extract simplified essential shapes and meaningful subparts from CAD models. Third, the extracted shapes and their FDAG subgraphs are indexed. Finally, the indexed shapes that are similar to user-sketched queries are retrieved to reuse, and FDAG information of the retrieved shapes is provided as redesign suggestions. Experimental results suggest that the incorporation of modeling knowledge greatly facilitates CAD model retrieval and reuse. Algorithm evaluations also show the presented method outperforms other 3D retrieval methods.

A New 4-DOF Fully Parallel Robot With Decoupled Rotation for Five-Axis Micromachining Applications

2019 ◽  
Vol 11 (3) ◽  
Author(s):  
Oleksandr Stepanenko ◽  
Ilian A. Bonev ◽  
Dimiter Zlatanov
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Parallel Robot ◽  
Parallel Kinematic Machine ◽  
Constant Length ◽  
End Effector ◽  
Kinematic Models ◽  
Parallel Kinematic ◽  
Linear Actuators ◽  
Five Axis

We present a novel 4-DOF (degrees of freedom) parallel robot designed for five-axis micromachining applications. Two of its five telescoping legs operate simultaneously, thus acting as an extensible parallelogram linkage, and in conjunction with two other legs control the position of the tooltip. The fifth leg controls the tilt of the end-effector (a spindle), while a turntable fixed at the base of the robot controls the swivel of the workpiece. The robot is capable of tilting its end-effector up to 90 deg, for any tooltip position. In this paper, we study the mobility of the new parallel kinematic machine (PKM), describe its inverse and direct kinematic models, then study its singularities, and analyze its workspace. Finally, we propose a potential mechanical design for this PKM utilizing telescopic actuators as well as the procedure for optimizing it. In addition, we discuss the possibility of using constant-length legs and base-mounted linear actuators in order to increase the volume of the workspace.

Mechanical Design of a 3-dof Parallel Robot Actuated by Smart Wires

2008 ◽  
pp. 271-278 ◽  
Author(s):  
Terenziano Raparelli ◽  
Pierluigi Beomonte Zobel ◽  
Francesco Durante
Keyword(s):  
Mechanical Design ◽  
Parallel Robot
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