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

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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Design Optimization of a parallel robot for Laparoscopic Pancreatic Surgery Using a Genetic Algorithm

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APPLIED SCIENCES-BASEL 2025年第8期15卷 4383-4383页

作者： Tucan, Paul Ciocan, Andra Gherman, Bogdan Radu, Corina Vaida, Calin Al Hajjar, Nadim Chablat, Damien Pisla, Doina Tech Univ Cluj Napoca CESTER Dept Cluj Napoca 400114 Romania Iuliu Hatieganu Univ Med & Pharm Dept Surg Cluj Napoca 400347 Romania Iuliu Hatieganu Univ Med & Pharm Dept Internal Med Cluj Napoca 400347 Romania Nantes Univ Ecole Cent Nantes CNRS UMR 6004LS2N F-44000 Nantes France Tech Sci Acad Romania B dul Dacia 26 Bucharest 030167 Romania

Background: Laparoscopic pancreatic surgery demands high precision and minimal invasiveness, yet conventional robotic systems often face challenges due to complex anatomical environments and uncertainties inherent in surgical procedures. Optimizing key design parameters such as the Remote Center of Motion (RCM) and robotic link lengths is critical for enhancing workspace accessibility and instrument maneuverability. Methods: An integrated optimization framework combining genetic algorithms (GA) with fuzzy logic was developed to determine the optimal RCM position and the ideal lengths of crucial robotic links in a 3-DOF parallel robotic system. The GA explored a large design space based on 6951 tracking points recorded during manual instrument manipulation, while the fuzzy logic system refined fitness evaluations by incorporating expert-defined membership functions and heuristic rules to manage uncertainties and ensure robust performance. Results: Simulation studies demonstrated that the optimized RCM position shifted from an initial [100, 0, 300] to [119.003337, -146.610801, 269.07376], yielding improved workspace coverage and enhanced instrument maneuverability. The GA further determined optimal link lengths of approximately 213.5 mm, 248.5 mm, and 48.6 mm for the primary, tertiary, and minimum secondary links, respectively, which were rounded to practical values of 215 mm, 250 mm, and 50 mm. The optimized design exhibited significant improvements in workspace reachability, precision, and operational stability, as validated by detailed 3D workspace plots and time history diagrams of the instrument tip and joint trajectories. Conclusions: The integrated GA-fuzzy optimization approach effectively enhances the design of a 3-DOF parallel robot for laparoscopic pancreatic surgery by achieving superior kinematic performance. The optimized parameters contribute to improved surgical precision and workspace accessibility, indicating strong potential for clinical application

关键词： parallel robot design optimization minimally invasive pancreatic surgery fuzzy logic genetic algorithm

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A robust control scheme for a 2PUS+RR parallel robot for ankle rehabilitation

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robotICA 2023年第11期41卷 3296-3313页

作者： Flores-Salazar, Erick D. Lugo-Gonzalez, Esther Arias-Montiel, Manuel Gallardo-Alvarado, Jaime Technol Univ Mixteca Postgrad Div Oaxaca Mexico Technol Univ Mixteca Inst Elect & Mech Oaxaca Mexico Technol Inst Celaya Dept Mech Engn Guanajuato Mexico

This paper presents a robust adaptive controller based on the backstepping technique using an extended state observer (ESO), implemented on a 2PUS+RR parallel robot, to minimize the trajectory tracking error. The proposed backstepping-ESO controller scheme is designed to compensate for the robot's structured (parametric) and unstructured (nonlinear friction, external disturbances, and dynamics) uncertainties. The overall stability of the controller is guaranteed by the Lyapunov theory. Cosimulation in MATLAB-Simulink and ADAMS View is presented to validate the results of the ESO and backstepping controller implemented in the virtual and physical prototype. For the virtual prototype, it was determined that the system is stable in 2 s and presents a maximum absolute error of 3.5 x 10(-6) m for the actuator position and 2.8 x 10(-5) rad for mobile platform orientation. Regarding the physical robot, a maximum absolute error of 5 x 10(-4) m for the actuator position and 0.0575 rad for the orientation of the robot mobile platform values do not represent a problem for ankle rehabilitation movements. Experimental results were also presented and compared with ankle motion to demonstrate that the applied control system meets the motion requirements of the ankle rehabilitator.

关键词： adaptable control extended state observer parallel robot passive rehabilitation movement control

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Dynamic behaviors of an integrated crawler mobile parallel robot in obstacle-crossing

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NONLINEAR DYNAMICS 2023年第18期111卷 16939-16962页

作者： An, Zhiguo Zhou, Zhihong Li, Dailin Gao, Zhengyuan Chongqing Jiaotong Univ Sch Mechanotron & Vehicle Engn Chongqing 400074 Peoples R China

A crawler mobile parallel robot equipped with swing arms has been proposed to improve the parallel robot's limited workspace and poor mobility. The robot's obstacle performance in the condition of step-climbing, gap-crossing, and hill-climbing was investigated through multi-body system simulation. The flexible body finite segment model method is used to model the crawler to simulate the dynamic behaviors. The results show that the motion of the parallel manipulator along the modified path is stable and continuous. The maximum step height for the robot in the forward and backward step-climbing is 170 and 160 mm, respectively. The maximum gap widths in the forward and backward gap-crossing are 420 and 615 mm, respectively. The maximum slope gradient is 20 & DEG;in the hill-climbing. In the three circumstances of obstacle-crossing, with the increase in step height, gap width, and slope gradient, the crawler slip rate increases with a more significant fluctuation, resulting in a greater force and impact on the crawler. Compared with the forward step-climbing and gap-crossing, the robot moves more smoothly with less impact in backward conditions. The initial speed is critical to improving the forward gap-crossing and hill-climbing movement. The integrated crawler mobile parallel robot has the advantages of simple structure and excellent obstacle-crossing performance.

关键词： Crawler mobile mechanism parallel robot Trajectory planning Multi-body dynamics Obstacle performance

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Dynamic modeling and performance analysis of a lower-mobility parallel robot with a rotatable platform

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MATHEMATICAL BIOSCIENCES AND ENGINEERING 2023年第2期20卷 3918-3943页

作者： Liu, Zhen Yang, Song Ding, Tao Chai, Ruimin Xian Res Inst Hitech Xian 710025 Peoples R China Xian North Electroopt Sci & Technol Def Co Ltd Xian 710043 Peoples R China

Recently, applications of high-speed, lightweight parallel robots have been gaining increasing interest. Studies have shown that their elastic that their elastic deformation during operation often affects the robot's dynamic performance. In this paper, we designed and studied a 3 DOF parallel robot with a rotatable working platform. We developed a rigid-flexible coupled dynamics model consisting of a fully flexible rod and a rigid platform by combining the Assumed Mode Method with the Augmented Lagrange Method. The driving moments under three different modes were used as feedforward in the model's numerical simulation and analysis. We conducted a comparative analysis demonstrating that the flexible rod's elastic deformation under a redundant drive is significantly smaller than that of a non-redundant one, leading to a better suppression effect on vibration. The system's dynamic performance under the redundant drive was significantly superior compared to that of the non-redundant one. Additionally, the motion accuracy was higher and the driving mode b was better than that of the driving mode c. Finally, the proposed dynamics model's correctness was verified by modeling it in Adams.

关键词： parallel robot redundant actuation rigid-flexible coupling dynamic modeling assumed mode method

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Nonlinear kinematics of space parallel robot with Bricard mechanism

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ACTA ASTRONAUTICA 2023年第1期208卷 367-380页

作者： Liu, Fei Guo, Chuandong Hu, Quan Li, Xiaohui Liu, Weihui Wen, Wen Liu, Lei Zhao, Jingchao China Acad Launch Vehicle Technol Beijing 100076 Peoples R China Beijing Inst Technol Sch Aerosp Engn Beijing 100081 Peoples R China Beijing Inst Control Engn Natl Lab Space Intelligent Control Beijing 100094 Peoples R China

The space parallel robot with Bricard mechanism (SPRBM) is a complex mechanical device used for capturing free-floating space debris. It consists of a 3-RRS (Revolute-Revolute-Spherical Joints) parallel mechanism and a Bricard mechanism. Space debris can be captured by the interior space of the SPRBM. Compared with the conventional manipulator system, the SPRBM can capture a target with an arbitrary shape and motion state if the target can be enwrapped by the mechanism. In addition, it does not impose any stringent requirement on the locations of the capture points on the debris. However, the SPRBM has complex configurations and therefore nonlinear kinematics. This paper presents a detailed kinematics analysis of the SPRBM. The analysis involves the degrees of freedom, singularity, forward and inverse kinematics, workspace, and the trajectory planning method. These analyses and the results provide the fundamentals for modeling and controlling the SPRBM.

关键词： Kinematics Space robot parallel robot Bricard mechanism

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Design and control of a 3-RPUR underwater parallel robot 19

Design and control of a 3-RPUR underwater parallel robot

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IEEE 19th Conference on Industrial Electronics and Applications (ICIEA)

作者： Yan, Kunpeng Zheng, Tianjiang Zhang, Wenlong Li, Wei Jiang, Dexin Li, Huamin Ningbo Univ Fac Mech Engn & Mech Ningbo 315211 Peoples R China Chinese Acad Sci Ningbo Inst Mat Technol & Engn Ningbo 315201 Peoples R China Zhejiang Key Lab Robot & Intelligent Mfg Equipmen Ningbo 315201 Peoples R China Univ Chinese Acad Sci Beijing 100049 Peoples R China

ISBN: (纸本)9798350360875;9798350360868

In recent years, three-degree-of-freedom (3-DOF) parallel robots have attracted significant attention within underwater vector thruster. Nevertheless, existing research exhibits certain shortcomings, posing challenges in meeting both the workspace and stiffness requirements concurrently. This paper addresses these issues through the design of a 3-RPUR (P is the prismatic joint, R is the revolute joint, U is the universal joint) underwater parallel robot. The design incorporates U+R pairs to replace spherical pair, enlarging the workspace of the moving platform. Additionally, a redundant static platform serves as auxiliary support to ensure stiffness. This paper begins with an analysis of the inverse kinematics of the parallel robot, deriving its solution. Subsequently, the velocity mapping relationship is examined. The mechanical model of the parallel robot is then integrated into the MATLAB/SIMULINK environment, combining the inverse kinematics solution. A controller is introduced to each moving branch chain to regulate the error, facilitating precise motion control. Simulation results demonstrate that each joint of the parallel robot effectively follows the reference trajectory, with a maximum error of less than 0.006mm. These findings validate the correctness of the mechanism design and the closed-loop control system.

关键词： parallel robot MATLAB Motion control

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Kinematic Analysis of a parallel robot for Minimally Invasive Surgery 19th

Kinematic Analysis of a Parallel Robot for Minimally Invasiv...

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International symposium on Advances in robot Kinematics (ARK)

作者： Vaida, Calin Gherman, Bogdan Birlescu, Iosif Tucan, Paul Pusca, Alexandru Rus, Gabriela Chablat, Damien Pisla, Doina Tech Univ Cluj Napoca CESTER Cluj Napoca Romania Nantes Univ Ecole Cent Nantes CNRS UMR 6004LS2N Nantes France Tech Sci Acad Romania 26 Dacia Blvd Bucharest 030167 Romania

ISBN: (纸本)9783031643798;9783031640575;9783031640568

The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools. To increase the surgical procedure safety, a closed form solution for the kinematic model is derived and then, the forward and inverse kinematic models for the mobile orientation platform are obtained. The kinematic models are used in numerical simulations for the reorientation of the endoscopic camera, which imposes an automated compensatory motion from the active instruments' modules.

关键词： parallel robot Personalized minimally invasive surgery Forward kinematics Inverse kinematics Orientation platform Simulations

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Structural Compliance Analysis and Experiment of a 4-DoF parallel robot

Structural Compliance Analysis and Experiment of a 4-DoF Par...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Cheng, Ming-Yang Liao, Hao-Chun Lan, Chao-Chieh Natl Cheng Kung Univ Dept Mech Engn Tainan Taiwan

ISBN: (纸本)9798350355376;9798350355369

Pick-and-place automation requires robots to have at least three translational (3T) and one rotational (1R) degrees of freedom. parallel robots usually include four limbs connected to a traveling plate to generate 3T1R motion. For the four limbs to be arranged with rotational symmetry, complicated types of passive joints and traveling plates are required, which make 3T1R robots structurally weaker and prone to wear and clearance issues. This paper presents a new 3T1R parallel robot that uses only revolute joints as the active and passive joints. Compared with other joint types, revolute joints are structurally simpler and stronger. They have an unlimited range of motion and can be preloaded to eliminate clearance. The proposed robot allows the four limbs to be connected with rotational symmetry. Compliance analysis shows that the 4-DoF robot has a homogenous compliance distribution. Experiments are given to verify that the robot can achieve low structural compliance when compared with existing counterparts. The robot is expected to provide an alternative solution in pick-and-place applications.

关键词： parallel robot 3T1R motion H4-type traveling plate rotational symmetry structural compliance

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Design Improvement of a parallel robot for Lower Limb Rehabilitation 8th

Design Improvement of a Parallel Robot for Lower Limb Rehabi...

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8th IFToMM International Symposium on robotics and Mechatronics (ISRM)

作者： Pisla, Doina Tucan, Paul Tohanean, Nicoleta Birlescu, Iosif Abrudan, Cristian Horsia, Alin Gherman, Bogdan Pisla, Adrian Machado, Jose Vaida, Calin Tech Univ Cluj Napoca Res Ctr Ind Robots Simulat & Testing CESTER Cluj Napoca 400641 Romania Tech Sci Acad Romania 26 Dacia Blvd Bucharest 030167 Romania Cluj Napoca Emergency Clin Cty Hosp Neurol Dept 1 Cluj Napoca 400012 Romania Univ Med & Pharm Iuliu Hatieganu Neurol Dept Cluj Napoca 400012 Romania Univ Minho MEtRICs Res Ctr Campus Azurem P-4800058 Guimaraes Portugal

ISBN: (纸本)9783031598906;9783031598883;9783031598876

The paper presents the design improvement of aparallel robot for lower limb rehabilitation to use it in hospital clinical trials. The new design of the robot allows easy attachment to the patient bed targeting bedridden patients. Starting from the medical protocol, for the clinical trials, and baseline assessment of the parallel robot, several components and aspects that need enhancements are identified and the robot is redesigned with respect to these issues. The new design of the robotic structure is validated by virtual simulations to highlight the range of motion of each joint and the forces/torques required to actuate the robot during the rehabilitation process by comparing the motion parameters of the initial design with respect to the enhanced design.

关键词： parallel robot robotic assisted rehabilitation Design improvement Motion simulation

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