Development of operational supporting master device using pneumatic parallel manipulator introducing virtual restriction wall

2004 ◽  
Vol 2004 (0) ◽  
pp. 14
Author(s):  
M Takaiwa ◽  
T Noritsugu ◽  
S Shirakawa
Keyword(s):  
Parallel Manipulator ◽  
Master Device

On the Development of a New Master Device Used for Medical Tasks

2018 ◽  
Vol 10 (4) ◽  
Author(s):  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul ◽  
Marc Arsicault
Keyword(s):  
Parallel Manipulator ◽  
Geometric Parameters ◽  
Surgical Robot ◽  
New Device ◽  
Kinematic Models ◽  
Spherical Parallel Manipulator ◽  
Master Device

This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric parameters of the new device are optimized to eliminate the singularity. A prototype of the new master device is presented. Experiments are carried out using the device which allowed the control of a surgical robot.

Forward kinematic model of a new spherical parallel manipulator used as a master device

2016 ◽  
Vol 3 (2/3) ◽  
pp. 145 ◽  
Author(s):  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul ◽  
Marc Arsicault
Keyword(s):  
Parallel Manipulator ◽  
Kinematic Model ◽  
Forward Kinematic ◽  
Spherical Parallel Manipulator ◽  
Master Device

Kinematic calibration of a 3-PRRU parallel manipulator based on the complete, minimal and continuous error model

2021 ◽  
Vol 71 ◽  
pp. 102158
Author(s):  
Lingyu Kong ◽  
Genliang Chen ◽  
Hao Wang ◽  
Guanyu Huang ◽  
Dan Zhang
Keyword(s):  
Parallel Manipulator ◽  
Error Model ◽  
Kinematic Calibration

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Soheil Zarkandi
Keyword(s):  
Power Consumption ◽  
Dynamic Modeling ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Pareto Front ◽  
Essential Role ◽  
Power Optimization ◽  
Optimal Designs ◽  
Flight Simulator ◽  
Lagrange Method

Abstract Reducing consumed power of a robotic machine has an essential role in enhancing its energy efficiency and must be considered during its design process. This paper deals with dynamic modeling and power optimization of a four-degrees-of-freedom flight simulator machine. Simulator cabin of the machine has yaw, pitch, roll and heave motions produced by a 4RPSP+PS parallel manipulator (PM). Using the Euler–Lagrange method, a closed-form dynamic equation is derived for the 4RPSP+PS PM, and its power consumption is computed on the entire workspace. Then, a newly introduced optimization algorithm called multiobjective golden eagle optimizer is utilized to establish a Pareto front of optimal designs of the manipulator having a relatively larger workspace and lower power consumption. The results are verified through numerical examples.

Performance evaluation of a special 6-PUS type parallel manipulator

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Xiaochu Liu ◽  
Yunfei Cai ◽  
Weitian Liu ◽  
Linlong Zhang ◽  
Chengxin Hu
Keyword(s):  
Performance Evaluation ◽  
Natural Frequency ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Shaking Table ◽  
Axial Stiffness ◽  
Neutral Position ◽  
Dynamics Model ◽  
Force Transmissibility ◽  
Kane Method

Abstract In this paper, a special 6-PUS parallel manipulator (PM) is utilized as a shaking table. Unlike the existing results about 6-PUS PMs, we make the actuator direction collinear with the linkage direction at neutral position. With respect to the application background, a further analysis of the special PM is carried out from the perspective of motion/force transmissibility, natural frequency and acceleration capability. Specially, the complete dynamics model is established based on the Kane method. Then, generalized transmission indices based on the screw theory are utilized to reflect its motion ability, and a model of natural frequency is proposed with the axial stiffness of linkages considered. Finally, the effect of the angle between the actuator direction and the linkage direction α on various performances is analyzed, and other results are included to illustrate its feasibility and usability.

Stiffness analysis of a planar parallel manipulator with variable platforms

2021 ◽  
pp. 1-18
Author(s):  
Xiaoyong Wu ◽  
Yujin Wang ◽  
Zhaowei Xiang ◽  
Ran Yan ◽  
Rulong Tan ◽  
...  
Keyword(s):  
Parallel Manipulator ◽  
Stiffness Analysis ◽  
Planar Parallel Manipulator
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