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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 150-162 doi: 10.1007/s11465-012-0325-4

Abstract:

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for aobjective optimization procedure based on genetic algorithms was then carried out to find the optimal SPMThe optimized SPM was then analyzed to determine the error on the orientation of the end effector as

Keywords： spherical parallel manipulator (SPM)     anastomosis     haptic     motion capture     optimization     workspace     dexterity    

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Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 4,   Pages 698-710 doi: 10.1007/s11465-021-0646-2

Abstract: with a novel roll–pitch–yaw spherical wrist.A hybrid series–parallel mechanism is presented to achieve the spherical wrist design, which consistsof two parallel linear hydraulic cylinders to drive the yaw/pitch 2-DOF wrist plate connected seriallyand universal joints, respectively; the underlined letter indicates the active joint), the 2-DOF parallelThe 7-DOF manipulator is then designed, and its third joint axis goes through the spherical center to

Keywords： hydraulic manipulator     inverse kinematic     redundant design     spherical wrist    

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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of

Keywords： redundant actuation     parallel manipulator     linkage–cam mechanism     Jacobian     optimal design    

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Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 379-385 doi: 10.1007/s11465-009-0075-0

Abstract: Singularity analysis plays an important role in the design of robots, especially for parallel robots.In this paper, the direct and inverse kinematics of an orthogonal spherical two-degree-of-freedom parallelSelf-motions, which are different from the general spherical 5 parallel mechanisms, are also discussed

Keywords： 2-DOF orthogonal spherical parallel mechanism     singularity loci     self-motions    

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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0743-x

Abstract: Most parallel manipulators have multiple solutions to the direct kinematic problem.study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallelmanipulator.The direct kinematic problem of the manipulator yields a quartic polynomial equation.

Keywords： planar parallel manipulator     assembly changing motions     cusp points     quartic polynomial     discriminant    

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Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 1,   Pages 46-60 doi: 10.1007/s11465-020-0606-2

Abstract: A novel hybrid perfusion manipulator (HPM) with five degrees of freedom (DOFs) is introduced by combiningthe 5PUS-PRPU (P, R, U and S represent prismatic, revolute, universal and spherical joint, respectively) parallel mechanism with the 5PRR reconfigurable base to enhance the perfusion efficiency of the large-scalespherical honeycomb thermal protection layer.

Keywords： 5-DOF hybrid manipulator     reconfigurable base     large workspace     dimensional synthesis     optimal design    

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4,   Pages 295-307 doi: 10.1007/s11465-014-0317-7

Abstract: manipulator.ground, by assuming there is no slipping at the feet, each contacting point is treated as a passive sphericaljoint and the kinematic model of parallel manipulator is established.The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelveThe inverse and forward displacement analysis of the parallel manipulator is carried out using the method

Keywords： quadruped robot     actuated joints selection     kinematics analysis     motion planning     parallel manipulator    

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 163-187 doi: 10.1007/s11465-012-0324-5

Abstract:

This paper presents the analysis of three parallel manipulators with Schoenflies-motion.Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degreeThe three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHwThe kinematic equations are first introduced for each manipulator.The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application

Keywords： parallel manipulator     schoenflies motion     kinematics     singularity     workspace     performance index    

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Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Strategic Study of CAE 2002, Volume 4, Issue 6,   Pages 63-70

Abstract:

Parallel kinematic machines are in the process of industrialization.In this paper, research and development of parallel kinematic machines is investigated from various aspects

Keywords： parallel manipulator     parallel kinematic machines(PKM)     drive     control system    

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2,   Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract: The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelmanipulator architecture.

Keywords： study     biped locomotor     biped walking     mechanical design     dynamic simulation     tripod leg mechanism     3-UPU parallelmanipulator    

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Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 2,   Pages 227-232 doi: 10.1007/s11465-006-0005-3

Abstract: This paper analyzes the precision of the dissymmetrical parallel mechanism of 3-RRRP(4R) with three translationalThe parallel mechanism has weakly-coupled, decoupled and real-time characteristics, thus error compensationThe influencing factors of the manipulator s precision are studied carefully and the means to enhance

Keywords： manipulator     nonlinear     δθ     influence     differential    

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Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

Frontiers of Mechanical Engineering 2007, Volume 2, Issue 4,   Pages 433-438 doi: 10.1007/s11465-007-0074-y

Abstract: This paper develops a 30 mm × 30 mm × 50 mm spherical micro actuator driven by piezoelectric ceramicFirst, the space coordinate relationship of the spherical micro actuator and a dynamic model are setwith a micro-gripper based on the sample spherical micro actuator, and the experimental research onFinally, the characteristics of the spherical micro actuator influenced by the mass of the metal sphereThe experimental results validate the back rotation vibration model of the spherical micro actuator.

Keywords： spherical     micro-gripper     friction coefficient     dynamic     frequency    

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Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational angles

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 1,   Pages 66-80 doi: 10.1007/s11465-019-0570-x

Abstract: The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machineThis paper focuses on designing a class of 2R1T (R: Rotation; T: Translation) parallel spindle headsA class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with thekinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel

Keywords： parallel mechanism     redundant mechanism     large rotational angles     machine tools     2R1T spindle head     collaborativemanipulator    

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Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3,   Pages 435-450 doi: 10.1007/s11465-021-0630-x

Abstract: Their configuration is similar to that of the experimental module manipulator (EMM) in the Chinese SpaceStation Remote Manipulator System.Secondly, the analytical inverse kinematic solution for a non-offset spherical–roll–spherical (SRS) redundantmanipulator is derived based on arm angle parameterization.EMM is calculated in accordance with the relationship between the joint angles of the EMM and the SRS manipulator

Keywords： 7-DOF redundant manipulator     inverse kinematics     semi-analytical     arm angle     link offset    

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Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 135-149 doi: 10.1007/s11465-012-0326-3

Abstract: The objective of these researches is to design the slave manipulator of this system and its control deviceultrasound probe attitude and used in the definition of the kinematics specifications of the proposed manipulatorThe Spherical Parallel Mechanism is selected because its characteristics meet the constraint requirementsThe optimal synthesis of spherical parallel manipulators is performed using a real-coded Genetic Algorithm

Keywords： tele-echography     motion capture     spherical parallel mechanism     genetic algorithm     adaptative kalman filter    

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Title Author Date Type Operation

Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Journal Article

Development of a redundant anthropomorphic hydraulically actuated manipulator with a roll–pitch–yaw spherical

Journal Article

Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Journal Article

Singularity loci of an orthogonal spherical two-degree-of-freedom parallel mechanism

Jialun YANG, Feng GAO,

Journal Article

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Journal Article

Dimensional synthesis of a novel 5-DOF reconfigurable hybrid perfusion manipulator for large-scale spherical

Hui YANG, Hairong FANG, Yuefa FANG, Xiangyun LI

Journal Article

Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Journal Article

Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Journal Article

Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Journal Article

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Journal Article

Precision analysis of a weakly-coupled parallel mechanism with three translational degrees of freedom

MA Lv-zhong, GUO Zong-he, YANG Qi-zhi, YIN Xiao-qin, HAN Ya-li, SHEN Hui-ping

Journal Article

Dynamical research on spherical micro actuator with piezoelectric ceramic stacks drivers

ZHANG Ruihua, CHEN Haichu

Journal Article

Design and analysis of a class of redundant collaborative manipulators with 2-dimension large rotational angles

Xiaodong JIN, Yuefa FANG, Dan ZHANG, Xueling LUO

Journal Article

Precise semi-analytical inverse kinematic solution for 7-DOF offset manipulator with arm angle optimization

Journal Article

Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

Journal Article