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

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

scholarly journals Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 62
Author(s):  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Real Time ◽  
Experimental Validation ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Model Resolution ◽  
Operation System ◽  
Time Motion ◽  
Forward Kinematic ◽  
Spherical Parallel Manipulator ◽  
Master Device

This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R for revolute joint). The Forward Kinematic Model (FKM) is particularly addressed to allow the new master device to control the motion of a slave surgical robot. For this purpose, three methods are presented to solve the FKM and compared based on the criterion of time consuming and accuracy. For each method, namely, classic FKM, Improved method and serial FKM, the resolution procedure is detailed and the experimental validation is presented. After comparison, the serial approach involving the use of three sensors located on one leg of the master device is revealed as the most suitable. Experimental validation of the real-time motion control is successfully performed using the serial FKM.

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.

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1463-1477 ◽  
Author(s):  
Houssem Saafi ◽  
Houssein Lamine
Keyword(s):  
Design Optimization ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Model ◽  
Parallel Manipulators ◽  
Geometric Parameters ◽  
Analysis And Design ◽  
Planar Parallel Manipulator ◽  
Forward Kinematic ◽  
Planar Parallel Manipulators

SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Kinematic analysis and optimal design of a novel 3-PRR spherical parallel manipulator

2020 ◽  
pp. 095440622093880
Author(s):  
Soheil Zarkandi
Keyword(s):  
Optimal Design ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Kinematic Singularity ◽  
Revolute Joint ◽  
Wide Range ◽  
Moving Platform ◽  
Forward Kinematic ◽  
Three Degree Of Freedom ◽  
Spherical Parallel Manipulator

This paper introduces a novel three degree-of-freedom spherical parallel manipulator with 3-PRR topology, where P and R denote a curved prismatic joint and a revolute joint, respectively. The first revolute joint of each PRR leg is actuated via a double Rzeppa-type driveshaft, and hence underlined. The manipulator has at most eight working modes and eight assembly modes. However, only one working mode and one assembly mode of the manipulator are acceptable during its motion which can be easily identified. Singularity and kinematic dexterity analyses reveal that the proposed 3-PRR spherical parallel manipulator has no forward kinematic singularity for a wide range of rotation of the moving platform around its central axis. An optimal design of the manipulator is also presented having a workspace with good kinematic dexterity.

Optimal design and evaluation of a dexterous 4 DoFs haptic device based on delta architecture

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1267-1288 ◽  
Author(s):  
Célestin Préault ◽  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Synthesis Method ◽  
Haptic Device ◽  
Dimensional Synthesis ◽  
Suitable Candidate ◽  
New Device ◽  
Kinematic Behavior ◽  
Spherical Parallel Manipulator

SUMMARYThis paper introduces a novel kinematic of a four degrees of freedom (DoFs) device based on Delta architecture. This new device is expected to be used as a haptic device for tele-operation applications. The challenging task was to obtain orientation DoFs from the Delta structure. A fourth leg is added to the Delta structure to convert translations into rotations and to provide translation of the handle. The fourth leg is linked to the base and to the moving platform by two universal joints. The architecture as well as the kinematic model of the new structure, called 4haptic, are presented. Comparisons in terms of kinematic behavior between the 4haptic device and the existing device developed based on spherical parallel manipulator architecture are presented. The results prove the improved behavior of the 4haptic device offering a singularity-free useful workspace, which makes it a suitable candidate to tele-operated system for Minimally Invasive Surgery. The dimensions of the 4haptic device, having the smallest workspace containing a prespecified region in space, are identified based on an optimal dimensional synthesis method.

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