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Design of a Bone-Attached parallel robot for Percutaneous Cochlear Implantation

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING 2011年第10期58卷 2904-2910页

作者： Kratchman, Louis B. Blachon, Gregoire S. Withrow, Thomas J. Balachandran, Ramya Labadie, Robert F. Webster, Robert J., III Vanderbilt Univ Dept Mech Engn Nashville TN 37235 USA Vanderbilt Univ Med Ctr Dept Otolaryngol Nashville TN 37232 USA

Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 +/- 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea.

关键词： Bone-attached robot cochlear implant Gough-Stewart platform microtable minimally invasive surgery (MIS) parallel robot

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Design and Kinematic Analysis of a Novel Planar parallel robot With Pure Translations

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IEEE ACCESS 2024年 12卷 9792-9809页

作者： Zou, Qi Yi, Byung-Ju Zhang, Dan Shi, Yuancheng Huang, Guanyu Hanyang Univ Sch Elect Engn Ansan 15588 South Korea Hong Kong Polytech Univ Dept Mech Engn Hong Kong Peoples R China Zhejiang Lab Intelligent Robot Res Ctr Hangzhou 311121 Peoples R China

The structural synthesis of a group of parallel mechanisms can be established by an exhaustive enumeration of all feasible kinematic chains based on the screw theory. However, reliable kinematic limbs can provide mobility constraints for some unqualified supporting legs to guarantee the degrees-of-freedom feasibility of the parallel robots. A systematic design approach is presented for a family of planar single-loop parallel mechanisms with the consideration of infeasible kinematic chains. Different from the other design approaches for single-loop linkages, the fixed and moving platforms are predefined in this research to distinguish different kinematic limbs. The special parallelogram linkage mechanism is incorporated due to its equivalent translation capacity. Three categories of singularity configurations are investigated based on the detailed kinematic models. The reachable workspace is obtained through the spatial search methodology. Several novel kinematic error model associated performance indices are proposed in this work and examined on a translational parallel manipulator. Experiments are carried out and compared to testify the effectiveness of the kinematic analysis and proposed position-based controller.

关键词： parallel robot planar mechanism type synthesis performance measurement

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Measurement Configuration Optimization and Kinematic Calibration of a parallel robot

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JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2022年第3期14卷 031017页

作者： Huang, Chenhui Xie, Fugui Liu, Xin-Jun Meng, Qizhi Tsinghua Univ Dept Mech Engn DME State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China

This paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve the calibration effect by decreasing the influence of the unobservable disturbance variables introduced by error measurement, a measurement configuration optimization method is proposed. Configurations are iteratively selected inside the workspace by a searching algorithm, then the selection results are evaluated through an index associated with the condition number of the identification Jacobian matrix;finally, the number of optimized configurations is determined. Since the selection algorithm has been shown to be sensitive to local minima, a meta-heuristic method has been applied to decrease this sensibility. To verify the effectiveness of the algorithm and kinematic calibration, computation validations, pose error estimations, and experiments are performed. The results show that the identification accuracy and calibration effect can be significantly improved by using the optimized configurations.

关键词： parallel robot error modeling measurement configuration optimization searching algorithm calibration experiment

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Inverse kinematics and workspace analysis of a cable-driven parallel robot with a spring spine

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MECHANISM AND MACHINE THEORY 2014年 76卷 56-69页

作者： Gao, Bingtuan Song, Honggang Zhao, Jianguo Guo, Shaoxiong Sun, Lixia Tang, Yi Southeast Univ Sch Elect Engn Nanjing Jiangsu Peoples R China Hohai Univ Coll Energy & Elect Engn Nanjing Jiangsu Peoples R China Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA

We present a cable-driven flexible parallel robot with low motion noise to mimic a human neck in this paper. The fixed base and moving platform of the robot are connected by three cables and a compression spring. The spring serves as the cervical spine to support and facilitate the motion of moving platform corresponding to human head. The cables serve as the muscles around the human neck to drive the robot. Due to the flexible compression spring, we cannot solve the inverse kinematics directly. As shown in this paper, it should be combined with the statics for possible solutions. Based on the inverse kinematics and statics analysis, we optimize the cable placements to minimize the actuation force. Moreover, the workspace of the robot is analyzed with the constraint of positive cable tension. Simulations were performed and demonstrated the correctness and feasibility of the inverse kinematics and workspace analysis of the parallel robot. The approach presented in this paper can be extended to other parallel robots with a flexible compression spring. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Cable-driven parallel robot Kinematics Workspace Optimal design

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Workspace optimization of parallel robot by using multi-objective genetic algorithm

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High Technology Letters 2022年第4期28卷 411-417页

作者： WANG Jinhong LEI Jingtao School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444P.R.China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai 200444P.R.China

For the narrow workspace problem of the universal-prismatic-universal(UPU)parallel robotwith fixed orientation,a kind of multi-objective genetic algorithm is studied to optimize the robot’*** concept of the effective workspace and its solution method are *** effectiveworkspace height(EWH)and global condition number index(GCI)of Jacobi matrix are selected asthe optimized objective *** the robot in two different orientations,the geometric pa-rameters are optimized by the multi-objective genetic algorithm named non-dominated sorting geneticalgorithm II(NSGA-II),and a set of structural parameters is *** optimization results areverified by four indicators with the robot’s moving platform at different *** resultsshow that,after optimization,the fixed-orientation workspace volume,the effective workspace heightand the effective workspace volume increase by 32.4%,17.8%and 72.9%on average,*** decreases by 6.8%on average.

关键词： parallel robot multi-objective genetic algorithm workspace optimization

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Development of Industrial High-Speed Transfer parallel robot

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TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A 2013年第8期37卷 1043-1050页

作者： Kim, Byung In Kyung, Jin Ho Do, Hyun Min Jo, Sang Hyun Korea Inst Machinery & Mat Dept Robot & Mechatron Daejon South Korea

parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced.

关键词： parallel robot Kinematic Analysis Structural Analysis

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Hybrid Moment/Position Control of a parallel robot

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2012年第3期10卷 536-546页

作者： Daachi, Mohamed El Hossine Achili, Brahim Daachi, Boubaker Amirat, Yacine Chikouche, Djamel LISSI Univ Paris Est Creteil Images Signals & Intelligent Syst Lab F-94400 Vitry Sur Seine France Univ Setif Dept Elect Setif Algeria Univ Paris 08 Comp Sci Lab LIASD F-93526 St Denis France Univ Msila Dept Elect Msila Algeria

In this paper, a hybrid moment/position controller in task space is proposed for tasks involving a contact between a robot and its environment. We consider a contour-tracking task performed by a six DOF (Degrees Of Freedom) parallel robot. The task space dynamic model of the robot in contact with its environment, seen as a black box, is estimated by a MLP-NN (Multi Layer Perceptron Neural Network). The neural network non-linearity is treated using Taylor series expansion. An adaptation algorithm of the neural parameters resulting from a closed-loop stability analysis is proposed. The performance of the proposed controller is validated on the C5 parallel robot by considering two different environments: rigid and compliant.

关键词： Adaptive control MLP neural networks parallel robot stability analysis

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Kinematic calibration of a wire-actuated parallel robot

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MECHANISM AND MACHINE THEORY 2007年第8期42卷 960-976页

作者： Varziri, M. Saeed Notash, Leila Queens Univ Dept Chem Engn Kingston ON K7L 3N6 Canada Queens Univ Dept Mech & Mat Engn Kingston ON K7L 3N6 Canada

In this article kinematic calibration of a wire-actuated parallel robot is discussed. Available redundant sensing of joint displacements makes it feasible to consider central linkage and wire actuators of the robot one at a time for calibration purposes. Identifiability issues due to the existence of a parallelogram in the central linkage are discussed. Kinematic modelling and parameter estimation of the wire actuators are also carried out. The results are validated through simulations. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： kinematic calibration parallel robot wire-actuated robot parallelogram linkage

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Observer-based friction compensation in heavy-duty parallel robot control

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2021年第8期35卷 3693-3704页

作者： Sancak, Kamil Vedat Bayraktaroglu, Zeki Yagiz Istanbul Tech Univ Mech Eng Dept MA1 TR-34437 Gumussuyu Istanbul Turkey ALTINAY Robot Technol Inc Istanbul Ind & Trade Free Zone TR-34957 Tuzla Istanbul Turkey

This paper presents an experimental study on friction compensation for the high-precision tracking control of parallel manipulators. A Luenberger-like observer (LLO) and an extended state observer (ESO) are designed and implemented in real-time control of a 6-DoF heavy-duty Stewart-Gough platform (SGP). The dynamic Lu-Gre model is used in the identification of friction. Performances of the proposed observer-based friction compensators are compared to those of a model-based compensator in computed torque control. Experimental results show that the observer-based compensators significantly improve the tracking performances in high speed motions. Among the investigated observers, the ESO results in minimum RMS error in position tracking. Improvement in position tracking at velocity reversals of the individual leg motions is also observed with the contribution of observer-based compensation. The observer error dynamics is exponentially stable, and the convergence rate can be arbitrarily increased by tuning the observer gain.

关键词： Dynamic friction Friction identification parallel robot Stewart-Gough platform Extended state observer Luenberger observer

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Kinematic Analysis and Design of a 3-DOF Translational parallel robot

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International Journal of Automation and computing 2017年第4期14卷 432-441页

作者： Mahmood Mazare Mostafa Taghizadeh M. Rasool Najafi School of Mechanical Engineering Shahid Beheshti University Tehran lran Department of Engineering University of Qom Qom Iran

parallel mechanisms are widely used in various fields of engineering and industrial applications such as machine tools, flight simulators, earthquake simulators, medical equipment, etc. parallel mechanisms are restricted to some limitations such as irregular workspace, existence of singular points and complexity of control systems which should be studied and analyzed for effective and efficient use. In this research, a new machine tool with parallel mechanism which has three translational degrees of freedom is studied and the workspace and singular points are determined by deriving analytical equations and then utilizing of Matlab software. To do so, forward and inverse kinematics of the mechanism are obtained and workspace and singular points are calculated using a search algorithm. Afterward in order to validate the results, the proposed mechanism is simulated in automatic dynamics analysis of mechanical systems （ADAMS） software. Moreover, in order to investigate the quality of robot performance and dexterity of the mechanism in its workspace, global dexterity index （GDI） of the robot is calculated using Jacobean matrix at different positions of the mobile platform.

关键词： Kinematic analysis parallel robot workspace manipulability dexterity.

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