scholarly journals A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for Robotic Applications

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1468
Author(s):  
Luis Nagua ◽  
Carlos Relaño ◽  
Concepción A. Monje ◽  
Carlos Balaguer
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Humanoid Robots ◽  
Inverse Kinematic ◽  
Element Analysis ◽  
New Approach ◽  
Flexible Polymer ◽  
The Mathematical Model

A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail, a test platform has been developed using components that can be manufactured in a 3D printer using a flexible polymer. The mathematical model of the kinematics of the soft joint is developed, which includes a blocking mechanism and the morphology workspace. The model is validated using Finite Element Analysis (FEA) (CAD software). Experimental tests are performed to validate the inverse kinematic model and to show the potential use of the prototype in robotic platforms such as manipulators and humanoid robots.

Workspace Generation for a 2 - DOF Parallel Mechanism Using Neural Networks

2012 ◽  
Vol 162 ◽  
pp. 121-130 ◽  
Author(s):  
Emilia Campean ◽  
Tiberiu Pavel Itul ◽  
Ionela Tanase ◽  
Adrian Pisla
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Two Degrees Of Freedom ◽  
Initial Testing ◽  
Network Application ◽  
Satellite Dish

The main purpose of the paper is to develop a neural network application destined to the workspace generation of a parallel mechanism, as an performant alternative to the workspace representation based on inverse kinematic model. The paper describes both algorithms. The initial testing was made for a parallel mechanism with two degrees of freedom that could be applied for the orientation of different systems like a TV satellite dish antennas, sun trackers, telescopes, cameras, radars etc.

Development of a novel 6-DOF hybrid serial-parallel mechanism for pose adjustment of large-volume components

2021 ◽  
pp. 095440622110263
Author(s):  
Shiwei Liu ◽  
Yu Sun ◽  
Gaoliang Peng ◽  
Yuan Xue ◽  
Anna Hnydiuk-Stefan ◽  
...  
Keyword(s):  
Large Volume ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Hybrid Mechanism ◽  
Spatial Parallel Mechanism ◽  
Hybrid Manipulator ◽  
Automated Docking ◽  
6 Degrees Of Freedom

In this paper, a novel 6-degrees-of-freedom (DOF) hybrid mechanism is proposed to realize position and posture adjusting for large-volume equipment. The designed hybrid manipulator is composed of the lower and upper modules, namely, a 3-DOF redundant spatial parallel mechanism (SPM) and a 3-DOF planar parallel mechanism (PPM), which has three rotational and three translational DOFs. According to the step-by-step pose adjusting strategy, the kinematics analyses of the lower and upper modules have been carried out systematically. For the whole hybrid mechanism, a complete kinematic model has been established; and visualized workspace of the kinematic model with regular shape and large volume demonstrates profound application prospects in engineering. In order to evaluate the performance of the proposed mechanism, experimental tests have been conducted in an automated docking system for pose adjustment of large and heavy components. The analysis results demonstrate the effectiveness and practicability of the new mechanism.

Numerical and experimental performance estimation for a ExoFing - 2 DOFs finger exoskeleton

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
G Carbone ◽  
M Ceccarelli ◽  
C. E. Capalbo ◽  
G Caroleo ◽  
C Morales-Cruz
Keyword(s):  
Degrees Of Freedom ◽  
Experimental Validation ◽  
Index Finger ◽  
Kinematic Model ◽  
Experimental Tests ◽  
Performance Estimation ◽  
Experimental Performance ◽  
Finger Motion ◽  
User Friendly ◽  
Operation Characteristics

Abstract This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

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.

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 2136-2142 ◽  
Author(s):  
Rui Fan ◽  
Huan Liu ◽  
Dan Wang
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Search Method ◽  
Architecture Design ◽  
Original Volume ◽  
Workspace Analysis ◽  
The Relationship

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

scholarly journals A Translational Three-Degrees-of-Freedom Parallel Mechanism With Partial Motion Decoupling and Analytic Direct Kinematics

2020 ◽  
Vol 12 (2) ◽  
Author(s):  
Huiping Shen ◽  
Damien Chablat ◽  
Boxiong Zeng ◽  
Ju Li ◽  
Guanglei Wu ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Design Theory ◽  
Degrees Of Freedom ◽  
Analytic Solutions ◽  
Inverse Kinematic ◽  
Kinematic Modeling ◽  
Topological Design ◽  
Prismatic Joints ◽  
Topological Characteristics ◽  
Three Degrees Of Freedom

Abstract According to the topological design theory and the method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a three-degrees-of-freedom (3-DOF) translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. First, the main topological characteristics, such as the POC, degree-of-freedom, and coupling degree, were calculated for kinematic modeling. Thanks to these properties, the direct and inverse kinematic problems can be readily solved. Further, the conditions of the singular configurations of the PM were analyzed, which corresponds to its partial motion decoupling property.

Study on a 4-DOF multi-dimensional vibration isolation platform based on 4-UPU parallel mechanism

2021 ◽  
Author(s):  
Ying Zhang ◽  
Xiaodong Guo ◽  
Shijia Yu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Vibration Isolation ◽  
Kinematic Model ◽  
Experimental Studies ◽  
Optimization Method ◽  
Response Analysis ◽  
Vibration Model ◽  
Fixed Base ◽  
Physical Prototype

A novel 4-DOF (degrees of freedom) multi-dimensional vibration isolation platform (MDVIP) based on 4-UPU (U denotes universal joint, P denotes prismatic joint) parallel mechanism is put forward for vibration isolation of the sensitive devices. It consists of 4 limbs and each limb has two universal joints and a module of spring damper. The kinematic model and vibration model of the proposed MDVIP are established and analyzed. The main dimensions of the MDVIP and the parameters of the spring damper module are designed by optimization method to meet various design requirements and constraints. Both the virtual prototype and physical prototype of the MDVIP are built to testify the vibration isolation performance. The results of numerical calculation, simulation and experimental studies based on vibration response analysis show that the proposed MDVIP can isolate at least 78% vibration from the fixed base in three axial directions and 64% vibration in the direction around the Z-axis, and thus may attenuate the disturbances to the items on the moving platform to a large extent.

Kinematic analysis of an augmented 3-RPSP tripod mechanism with six degrees of freedom for bone reduction surgery

2021 ◽  
pp. 095440622110480
Author(s):  
Sinh Nguyen Phu ◽  
Terence Essomba
Keyword(s):  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Femoral Shaft ◽  
Polynomial Equation ◽  
Velocity Model ◽  
Inverse Kinematic ◽  
Reachable Workspace ◽  
Bone Fragments ◽  
Forward Kinematic ◽  
Six Degree Of Freedom

Robotic-assisted bone reduction surgery consists in using robots to reconnect patients’ bone fragments prior to fracture healing. The goal of this study is to propose a novel augmented 3-RPSP tripod mechanism with six degree of freedom for longitudinal bone reduction surgery. Its inverse kinematic model is studied and its forward kinematic model is solved by establishing the constraint equations, applying Sylvester’s dialytic method and finding the solutions of the resulting polynomial equation. The velocity model is calculated and its Jacobian matrix is used to identify its singular configurations. In comparison to the Stewart–Gough platform that is a typical mechanism used in this application, the proposed mechanism offers larger reachable workspace which is an important aspect in the femoral shaft bone reduction. A Physiguide and Msc Adams software are used to carry out a simulation of a real femur fracture reduction using the proposed mechanism to validate its suitability. A robotic prototype has been designed and manufactured in order to test its capability of performing diaphyseal femur reduction surgery.

Design and Modeling of an Experimental ROV with Six Degrees of Freedom

Drones ◽  
2021 ◽  
Vol 5 (4) ◽  
pp. 113
Author(s):  
Aleksey Kabanov ◽  
Vadim Kramar ◽  
Igor Ermakov
Keyword(s):  
Mathematical Model ◽  
Degrees Of Freedom ◽  
Experimental Tests ◽  
Underwater Vehicles ◽  
Six Degrees Of Freedom ◽  
Functional Capabilities ◽  
Classical Design ◽  
Wide Range ◽  
Reduced Costs ◽  
The Mathematical Model

With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

New Design, Kinematic and Static Force Modeling of a Bio-Inspired Leg Mechanism for Rough Terrain

2013 ◽  
Vol 461 ◽  
pp. 262-270 ◽  
Author(s):  
Long Zhang ◽  
Da Wei Ma ◽  
Zhong Ling Zhu ◽  
Jian Hu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Rough Terrain ◽  
Static Force ◽  
The Novel ◽  
Biologically Inspired ◽  
Force Modeling ◽  
Invertebrate Animal ◽  
Biomimetic Robot ◽  
The Mathematical Model

This paper presents an invertebrate leg-like mechanism, which is biologically inspired from invertebrate creatures such as crabs and insects. For the purpose that the leg mechanism could imitate the behavior of the invertebrate animal on rough terrain, it should have the same degree of freedom as the crabs or insects have. The novel leg mechanism consists of 3 joints which linkage has 5 degrees of freedom (DOFS), and mainly depends on a coxa joint driven by a parallel mechanism for the biomimetic motions. The parallel mechanism with 3 DOF is well designed and implemented with the excellent kinematical performances as invertebrate creatures. The mathematical model of the leg mechanism and the kinematical analysis are described, and static force performance characteristics are also discussed. The kinematical performances of the leg mechanism are analyzed by the numerical simulation conducted in biomimetic robots application. The simulation results show the performance of the proposed leg-like mechanism and verify that the leg can be used in the biomimetic robot which could exactly imitate limb motions.

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