Development of a Haptic Device with Wire-Driven Parallel Structure

2017 ◽  
Vol 11 (3) ◽  
pp. 385-395
Author(s):  
Carlo Ferraresi ◽  
◽  
Carlo De Benedictis ◽  
Francesco Pescarmona
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Structure ◽  
Control Logic ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Force Closure ◽  
Force Reflection ◽  
Definition Of ◽  
Selection Of

This study focuses on the specific problems that may arise in the development of a parallel, cable-driven device designed for teleoperations systems utilizing force-reflection feedback. A redundant six degrees-of-freedom structure, actuated by nine wires, is described as a convenient layout for a haptic master for telemanipulation. A methodology for the kinematic and static analysis and the evaluation of the device workspace is described. The condition of force closure is used to find all available poses of the end-effector, thereby defining the workspace, whose characteristics are assessed by opportunely conceived indexes. Typical characteristics of cable and implementations thereof in the device are considered. Regarding the realization of the device, relevant attention is given to the definition of the control logic, which can be complex for parallel devices. The selection of the actuators, crucial in realizing force feedback, is discussed. In particular, pneumatic actuation is considered, verified as the most appropriate method for implementation and force control of the cylinders.

A new methodology for the determination of the workspace of six-DOF redundant parallel structures actuated by nine wires

Robotica ◽  
2006 ◽  
Vol 25 (1) ◽  
pp. 113-120 ◽  
Author(s):  
Carlo Ferraresi ◽  
Marco Paoloni ◽  
Francesco Pescarmona
Keyword(s):  
Degrees Of Freedom ◽  
New Method ◽  
Parallel Structure ◽  
Graphical Form ◽  
Six Degrees Of Freedom ◽  
Parallel Structures ◽  
Six Dof ◽  
Force Reflection ◽  
Master Device

The WiRo-6.3 is a six-degrees of freedom (six-DOF) robotic parallel structure actuated by nine wires, whose characteristics have been thoroughly analyzed in previous papers in reference. It is thought to be a master device for teleoperation; thus, it is moved by an operator through a handle and can convey a force reflection on the operator's hand. A completely new method for studying the workspace of this device, and of virtually any nine-wire parallel structure actuated by wire is presented and discussed, and its results are given in a graphical form.

FlexDex™: A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Control

2010 ◽  
Vol 4 (3) ◽  
Author(s):  
Shorya Awtar ◽  
Tristan T. Trutna ◽  
Jens M. Nielsen ◽  
Rosa Abani ◽  
James Geiger
Keyword(s):  
Minimally Invasive ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Technology Development ◽  
Low Cost ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Design Paradigm ◽  
Rotational Degrees Of Freedom

This paper presents a new minimally invasive surgical (MIS) tool design paradigm that enables enhanced dexterity, intuitive control, and natural force feedback in a low-cost compact package. The paradigm is based on creating a tool frame that is attached to the surgeon’s forearm, making the tool shaft an extension of the latter. Two additional wristlike rotational degrees of freedom (DoF) provided at an end-effector that is located at the end of the tool shaft are manually actuated via a novel parallel-kinematic virtual center mechanism at the tool input. The virtual center mechanism, made possible by the forearm-attached tool frame, creates a virtual two-DoF input joint that is coincident with the surgeon’s wrist, allowing the surgeon to rotate his/her hand with respect to his/her forearm freely and naturally. A cable transmission associated with the virtual center mechanism captures the surgeon’s wrist rotations and transmits them to the two corresponding end-effector rotations. This physical configuration allows an intuitive and ergonomic one-to-one mapping of the surgeon’s forearm and hand motions at the tool input to the end-effector motions at the tool output inside the patient’s body. Moreover, a purely mechanical construction ensures low-cost, simple design, and natural force feedback. A functional decomposition of the proposed physical configuration is carried out to identify and design key modules in the system—virtual center mechanism, tool handle and grasping actuation, end-effector and output joint, transmission system, tool frame and shaft, and forearm brace. Development and integration of these modules leads to a proof-of-concept prototype of the new MIS tool, referred to as FlexDex™, which is then tested by a focused end-user group to evaluate its performance and obtain feedback for the next stage of technology development.

A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust Controller with Positive Inputs

2004 ◽  
Vol 127 (4) ◽  
pp. 612-620 ◽  
Author(s):  
So-Ryeok Oh ◽  
Kalyan Mankala ◽  
Sunil K. Agrawal ◽  
James S. Albus
Keyword(s):  
Degrees Of Freedom ◽  
Robust Controller ◽  
Two Stage ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Cable Robot ◽  
Unknown Disturbances ◽  
Dual Stage ◽  
Loading And Unloading ◽  
Skin To Skin

Cable robots have potential usage for loading and unloading of cargo in shipping industries. A novel six-degrees-of-freedom two-stage cable robot has been proposed by NIST for skin-to-skin transfer of cargo. In this paper, we look at a planar version of this two-stage cable robot. The disturbance motion from the sea is considered while modeling the dynamics of robot. The problem of robust control of the end-effector in the presence of unknown disturbances, along with maintaining positive tensions in the cables, is tackled using redundancy of cables in the system. Simulation results show the effectiveness of the control strategy.

Use of 1DOF Haptic Device for Remote-Controlled 6DOF Assembly

2014 ◽  
Vol 8 (3) ◽  
pp. 452-459 ◽  
Author(s):  
Ryoya Kamata ◽  
◽  
Ryosuke Tamura ◽  
Satoshi Niitsu ◽  
Hiroshi Kawaharada ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Haptic Device ◽  
Prototype System ◽  
Assembly Operation ◽  
Six Degrees Of Freedom ◽  
Controlled Assembly ◽  
Sense Of Reality ◽  
Position And Orientation ◽  
Assembly Operations

This paper describes a remote controlled assembly using a haptic device. Most haptic devices have six Degrees Of Freedom (DOFs) for a higher sense of reality. However, for assembly operation, the simultaneous motion of parts with only one or two DOFs is required, and force feedback to operators is used only to maintain contact and detect collisions among parts. This leads to the possibility of assembly operations using a haptic device with a small number of DOFs. In this paper, we propose virtual planes to perform remote control of a 6DOF assembly by way of 1DOF user operations. Virtual planes separate the DOFs for user operation and for automatically generated motions that complement the user operation DOF in each assembly operation. A prototype system was developed with a 6DOF manipulator and camera. The system allows an operator to place virtual planes in any position and orientation using a camera image of the workspace. The experiment results showed the effectiveness of the method for remote controlled assembly without geometry information on the parts.

Kinematic calibration of the parallel Argos mechanism

Robotica ◽  
2000 ◽  
Vol 18 (6) ◽  
pp. 589-599 ◽  
Author(s):  
Peter Vischer ◽  
Reymond Clavel
Keyword(s):  
Degrees Of Freedom ◽  
Measurement Data ◽  
Spherical Model ◽  
Parallel Structure ◽  
Kinematic Calibration ◽  
End Effector ◽  
Calibration Models ◽  
Rotational Degrees Of Freedom ◽  
Set Up ◽  
Circle Model

This paper deals with the kinematic calibration of the Argos mechanism which is a novel, spherical parallel structure having 3 rotational degrees of freedom. Its design is based on 3 actuators carrying a pantograph each which are connected to the end-effector by means of 3 spherical joints. Two different calibration models are introduced. The first one models mechanical deviations in all parts except for the spherical joints and the assumption that they are moving on a perfect circle (“model 27”). The second model considers only deviations which affects the orientation of the end-effector but not its position assuming that the mechanism remains spherical (“model 9”). A measurement set-up allows to measure the full pose (position and orientation) of the end-effector with respect to its base. These measurement data are used to identify the parameters of the two calibration models resulting in an accuracy improvement of RMS (root mean squares errors) of a factor of 5.3 for the orientation and a factor of 3.4 for the prediction of the position.

Reconfiguration Analysis of a Fully Reconfigurable Parallel Robot

2013 ◽  
Vol 5 (4) ◽  
Author(s):  
Allan Daniel Finistauri ◽  
Fengfeng (Jeff) Xi
Keyword(s):  
Comparative Study ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Passive State ◽  
Limited Mobility ◽  
Six Degrees Of Freedom ◽  
Revolute Joints ◽  
Six Degree Of Freedom ◽  
The Comparative Study ◽  
Selection Of

This paper presents a new method for the combined topological and geometric reconfiguration of a parallel robot to achieve task-based reconfiguration. Using the existing structure of a six degree-of-freedom (DOF) parallel robot, reconfiguration to limited mobility modes, a configuration with less than six degrees-of-freedom, can be achieved easily without the need to remove branches from the robot structure. Branch modules are instead, reconfigured from an unconstrained-active to a constrained-passive state by means of hybrid active/passive motors and reconfigurable universal-to-revolute joints. In doing so, the robot is capable of assuming a configuration in which the number of task-based degrees-of-freedom match the number of controllable actuators within the robot structure. The selection of branch modules for reconfiguration is independent of the limited mobility mode required and leads to multiple isomorphic configurations. A comparative study is thus needed to understand not only the implication of morphing, but also the capabilities of the reconfigured robot. For this purpose, a branch-based mobility analysis is performed and isomorphic configurations are identified. These isomorphic configurations are then compared based on their workspace and kinematic capabilities for which a parametric kinematic constraint formulation is developed. The comparative study evaluates the abilities of each configuration and is used for guidance in selecting an appropriate configuration for a particular task. The developed tools can also be used for design evaluation purposes.

Structured non-self approach for aircraft failure identification within a fault tolerance architecture

2016 ◽  
Vol 120 (1225) ◽  
pp. 415-434 ◽  
Author(s):  
H. Moncayo ◽  
I. Moguel ◽  
M.G. Perhinschi ◽  
A. Perez ◽  
D. Al Azzawi ◽  
...  
Keyword(s):  
Fault Tolerance ◽  
Fault Detection ◽  
Positive Selection ◽  
Degrees Of Freedom ◽  
Flight Simulator ◽  
Structural Components ◽  
Process Data ◽  
Six Degrees Of Freedom ◽  
Selection Mechanisms ◽  
Selection Of

ABSTRACTWithin an immunity-based architecture for aircraft fault detection, identification and evaluation, a structured, non-self approach has been designed and implemented to classify and quantify the type and severity of different aircraft actuators, sensors, structural components and engine failures. The methodology relies on a hierarchical multi-self strategy with heuristic selection of sub-selves and formulation of a mapping logic algorithm, in which specific detectors of specific selves are mapped against failures based on their capability to selectively capture the dynamic fingerprint of abnormal conditions in all their aspects. Immune negative and positive selection mechanisms have been used within the process. Data from a motion-based six-degrees-of-freedom flight simulator were used to evaluate the performance in terms of percentage identification rates for a set of 2D non-self projections under several upset conditions.

Design, testing and evaluation of an end-effector for self-relocation

Robotica ◽  
2015 ◽  
Vol 34 (12) ◽  
pp. 2689-2728 ◽  
Author(s):  
Feng Han ◽  
Kui Sun ◽  
Yu Liu ◽  
Hong Liu
Keyword(s):  
Degrees Of Freedom ◽  
Physical Simulation ◽  
Industrial Robot ◽  
Space Environment ◽  
Air Bearing ◽  
End Effector ◽  
Six Degrees Of Freedom ◽  
Soft Capture ◽  
End Effectors ◽  
Prototype Design

SUMMARYTwo identical end-effectors are indispensable for self-relocation of a space manipulator, which is an effective way of extending its servicing capability. The prototype design is intimately linked to the requirements. The significant features and functionality of the end-effector and its grapple fixture are described, including the key analysis efforts. The characteristics of the end-effector and their suitability for self-relocation and payload handling were confirmed by testing, which used two prototype end-effectors, a semi-physical simulation testbed system with two, six degrees of freedom (DOF) industrial robot arms, and an air-bearing testbed system with a seven DOF manipulator. The results demonstrate that the end-effector satisfies the requirements and it can work well in a simulated space environment. With the compliance motion of the manipulator, the end-effector can perform soft capture and the manipulator can securely self-relocate and handle the payload.

Landing efficiency control of a six degrees of freedom aircraft model with magneto-rheological dampers: Part 2—control simulation

2020 ◽  
pp. 1045389X2094259
Author(s):  
Byung-Hyuk Kang ◽  
Ji-Young Yoon ◽  
Gi-Woo Kim ◽  
Seung-Bok Choi
Keyword(s):  
Degrees Of Freedom ◽  
Maximum Energy ◽  
Control Logic ◽  
Six Degrees Of Freedom ◽  
Aircraft Landing ◽  
Efficiency Control ◽  
Model Equations ◽  
Magneto Rheological ◽  
The Time Domain ◽  
Distinct Features

In Part 1 of this work, both the kinematic and dynamic equations of aircraft landing model integrated with magneto-rheological damper were derived. In Part 2, the landing efficiency is analyzed through landing motion simulation which is performed on the basis of the model equations derived in Part 1. To investigate the landing efficiency with respect to the operating force control of magneto-rheological fluid, two different control logics for magneto-rheological damper are designed. The first one is the skyhook controller, which is known to be simple, but very effective for the semi-active control system. In this control logic, the switching condition depending on the compression and extension mode of the damper is determined to achieve maximum energy dissipation. The second one is a modified skyhook controller associated with the semi-active bouncing control. This controller is introduced to prevent bouncing of the main landing gear tires and to reduce the roll motion of the aircraft. The landing efficiency is evaluated at several rates of descent, and its distinct features such as tire displacement and pitch angle are compared in the time domain.

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