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Kinetostatics Modeling and Analysis of a Spherical parallel Continuum Manipulator

JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 011004页

作者： Duan, Xuyang Yan, Wei Yan, Tianyi Chen, Genliang Wang, Hao Shanghai Jiao Tong Univ State Key Lab Mech Syst & Vibrat Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ State Key Lab Mech Syst & Vibrat Shanghai Key Lab Digital Manufacture Thin Walled S Shanghai 200240 Peoples R China Shanghai Jiao Tong Univ Shanghai Key Lab Digital Manufacture Thin Walled S State Key Lab Mech Syst & Vibrat Fraunhofer Innovat Platform Smart Mfg Shanghai 200240 Peoples R China

In this paper, a spherical parallel continuum manipulator (SPCM) which is the flexible version of the 3-RRR"Agile Eye" mechanism is proposed and analyzed. The SPCM consists of three parallel flexible limbs, each limb is formed by compliant truncated cone elements, and the moving platform connects each limb with a passive revolute joint. Three servo motors are used to control the manipulator actively, and the spherical motion is realized by the coupled large deflections of the flexible links. An equivalent compliance analysis method of the element is developed based on finite element analysis and principal axis decomposition. By combining all three limbs, the kinetostatics model of the whole manipulator is derived, and a gradient iteration algorithm is developed to solve the forward and inverse kinetostatics. Finally, a prototype of the manipulator is constructed using 3D-printing technology, and the accuracy for element equivalence and end-effector characteristics is validated by experiments. The results show that the derived kinetostatics model can accurately describe the force-deflection behavior of the SPCM.

关键词： compliant mechanisms compliant mechanisms and robots parallel mechanisms and robots parallel robots theoretical and computational kinematics

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An Actuation Acceleration-Based Kinematic Modeling and Parameter Identification Approach for a Six-Degrees-of-Freedom 6-PSU parallel Robot With Joint Clearances

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 011005页

作者： Liu, Xin Qi, Chenkun Lin, Jianfeng Li, Dongjin Gao, Feng Shanghai Jiao Tong Univ Sch Mech Engn Shanghai 200240 Peoples R China

The 6-prismatic-spherical-universal (6-PSU) parallel robot is useful for high-accuracy positioning, where the motors are installed on the robot base and the moving parts of the robot have low inertia. A highly accurate kinematic model of the robot is fundamental for the control. The joint clearances of all limbs often exist and have a significant influence on kinematic model accuracy. In this study, an actuation acceleration information-based kinematic modeling and identification method for a 6-PSU parallel robot with joint clearances is proposed. The direction of the joint clearance is related to the direction of the force acted on the joint, which is determined by the acceleration of the prismatic actuator. The existence of joint clearances is equivalent to the link length change. The joint clearances are identified from the experiments and compensated. Simulations and experiments show that the proposed method is effective and improves the accuracy of the kinematic model.

关键词： parallel robot joint clearance kinematic modeling parameter identification parallel mechanisms and robots theoretical and computational kinematics

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Online Self-Calibration of Cable-Driven parallel robots Using Covariance-Based Data Quality Assessment Metrics

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 010904-010904页

作者： Caverly, Ryan J. Cheah, Sze Kwan Bunker, Keegan R. Patel, Samir Sexton, Niko Nguyen, Vinh L. Univ Minnesota Dept Aerosp Engn & Mech Minneapolis MN 55455 USA

This article presents an algorithm to perform self-calibration of cable-driven parallel robots (CDPRs), where the CDPR's end-effector pose is estimated in conjunction with the calibration of biases in CDPR's measurements. Two new metrics, known as the position dilution of precision (PDOP) and orientation dilution of precision (ODOP), are introduced as a means to quantify the quality of data collected with regards to self-calibration. These metrics are based on a covariance matrix that is computed online as part of the proposed self-calibration algorithm, which results in the PDOP and ODOP directly corresponding to the standard deviation of the position and orientation errors, respectively. These metrics are used to intuitively select which data points contribute to improved calibration, resulting in a computationally efficient algorithm requiring few data points to maintain accurate calibration. In addition, the PDOP and ODOP provide a means to assess when sufficient calibration data have been collected. Numerical results involving an inverse kinematic simulation with rigid cables and a dynamic simulation with flexible cables indicate that the proposed algorithm is capable of performing self-calibration in a computationally efficient manner. Moreover, the simulation results indicate that the proposed PDOP and ODOP metrics result in smaller position and orientation errors when used to prune the dataset compared to the observability indices found in the literature. Accuracy of the proposed algorithm is also confirmed through experiments when compared to ground-truth pose data.

关键词： cable-driven parallel robots pose estimation forward kinematics calibration least-squares optimization cable driven mechanisms kinematics mechanisms and robots parallel mechanisms and robots

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Strategy for Topological Reconfiguration of Cable-Driven parallel robots

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 010908页

作者： Trautwein, Felix Dietrich, David Pott, Andreas Verl, Alexander Univ Stuttgart Inst Control Engn Machine Tools & Mfg Units ISW D-70174 Stuttgart Germany

This paper presents a strategy for stable topological in-operation-reconfiguration of cable- driven parallel robots. The term topological refers to the addition or removal of active cables and thus to changing the topology of the cable robot. During the whole reconfiguration process, the strategy guarantees the stability of the platform by considering a stability criterion based on the potential energy. In this context, two new formulations of a stable and minimal-stable workspace are introduced. Consequently, the theoretical foundations of kinematics and statics are first presented. Based on this, the limitations of conventional modeling approaches in the context of topological reconfiguration are outlined and necessary adaptations of the modeling are made. Afterward, impacts of topological adaptations are analyzed, followed by a formal description and a strategy for topological in-operation- reconfiguration. Finally, the reconfiguration strategy is applied to two simulation experiments, which show that the method is suitable for determining a stable reconfiguration sequence for the desired adaptation of the robot.

关键词： cable-driven mechanisms kinematics dynamics and control of mechanical systems mechanism synthesis and analysis mechanisms and robots parallel mechanisms and robots parallel robots

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Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第3期17卷 031002页

作者： Zhao, Xiaolu Wang, Fujun Tao, Changping Shi, Beichao Huo, Zhichen Tian, Yanling Tianjin Univ Sch Mech Engn Key Lab Mech Theory & Equipment Design Minist Educ Tianjin 300354 Peoples R China Xian Inst Appl Opt Xian 710065 Peoples R China Univ Warwick Sch Engn Coventry CV4 7AL England

This article reports the design, modeling, and experiments of a novel retinal surgery robot based on spatial variable remote center-of-motion (RCM) mechanism. The general design criteria for parallel mechanisms are proposed, and the planar five-bar mechanisms are evaluated and selected. The planar-spatial evolution process, including the parallel connection of the planar mechanism and the equivalent substitution of joints, is adopted to develop a spatial variable RCM mechanism and then the robot. The mobility and singularity of the robot are analyzed, and the forward/inverse kinematics and workspace are modeled. Dimension optimization is conducted based on a comprehensive performance indicator that characterizes the motion range of linear actuators and the global dexterity performance index of robot. The prototyped robot is fabricated and assembled, and the kinematic calibration is performed. The position error of end-effector is within 34 mu m, and both the position error and deviation of the RCM point are within 23 mu m. The robot is demonstrated to reach the desired position and execute the RCM motion with high precision simultaneously.

关键词： robotics surgery robot hybrid mechanism variable remote center of motion mechanism design parallel mechanisms and robots

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Design and Analysis of a New Non-Parasitic parallel Mechanism for 2T1R Motion

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第1期17卷 014501页

作者： Shen, Huiping Tang, Yao Ceccarelli, Marco Li, Ju Li, Tao He, Hongbo Changzhou Univ Res Ctr Adv Mech Theory Changzhou 213164 Jiangsu Peoples R China

Two-limb parallel mechanisms (PMs) can have several advantages, such as avoidance of mechanical collision, fairly simple architecture, easy assembly, and large workspace. The paper presents a novel two-limb three-degree-of-freedom (DOF) PM with two translations and one-rotation (2T1R) that are actuated by two sliders. The manipulator runs with decoupled position and orientation with forward position solution without parasitic motions. The main topological characteristics of the PM such as position and orientation characteristic (POC), DOF, and coupling degree are analyzed. Second, using the kinematic modeling method based on topological characteristics, the unified symbolic forward and inverse position solutions of the two configurations of the PM (I and II) are derived together with the workspace, rotational capacity, and singularity. Finally, a comparative analysis regarding the kinematics of two configurations (I and II) is carried out to find an optimal design configuration I of a PM for 2T1R motion.

关键词： parallel mechanism position and orientation characteristic kinematics mechanism synthesis and analysis parallel mechanisms and robots theoretical and computational kinematics

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Architecture Singularity Distance Computations for Linear Pentapods

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第2期17卷 021008-021008页

作者： Kapilavai, Aditya Nawratil, Georg Vienna Univ Technol Inst Discrete Math & Geometry Wiedner Hauptstr 8-10-104 A-1040 Vienna Austria

The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also interested in a geometric meaningful index evaluating how far the robot design is away from being architecturally singular. Such an architecture singularity distance, which can be used by engineers as a criterion within the design process, is presented for a certain class of parallel manipulators called linear pentapods. Geometrically the architecture singular designs are well-understood and can be sub-classified into several cases, which allows for solving the optimization problem of computing the closest architecture singular design to a given linear pentapod with algorithms from numerical algebraic geometry.

关键词： mechanism design parallel mechanisms and robots parallel robots theoretical and computational kinematics linear pentapods architecture singularity distance Bertini

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Development and Analysis of a Novel Bio-Syncretic parallel Hip Exoskeleton Based on Torque Requirements

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第3期17卷 031001页

作者： Xu, Jilong Niu, Yunzhan Liu, Fucai Yanshan Univ Engn Res Ctr Key Lab Ind Comp Control Heibei Prov Minist Educ Intelligent Control Syst & Intelligent Qinhuangdao 066004 Peoples R China Yanshan Univ Coll Mech Engn Qinhuangdao 066004 Peoples R China

This study has developed a bio-syncretic parallel hip exoskeleton (BsPH-Exo) to address the misalignment between the rotational center of the hip joint and that of the mechanical joint. BsPH-Exo uses the hip joint as its sole motion constraint to ensure precise alignment with the hip joint center (HJC). To tackle the high costs and technical limitations of traditional methods for measuring HJC coordinates, we propose a new solution: using sensors embedded in BsPH-Exo to gather motion data from both the motors and the human leg, then processing this data through a formula to calculate the exact HJC coordinates. This approach not only simplifies the measurement process but also significantly reduces costs. Through analysis of the workspace, singularity, and maximum torque index, it was found that BsPH-Exo provides a wide range of leg motion while avoiding singularities within the rehabilitation scope. Additionally, the torque law from BsPH-Exo aligns with the torque requirements for human leg movement. In a series of wearable experiments, BsPH-Exo demonstrated its ability to meet rehabilitation training needs and showed excellent controllability in flexion/extension and adduction/abduction directions.

关键词： hip exoskeleton parallel mechanism misalignment anisotropy output torque parallel mechanisms and robots rehabilitation mechanisms and robots wearable robots and exoskeletons

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Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2025年第2期17卷 021007-021007页

作者： Koszulinski, Alizee Sandoval, Juan Arsicault, Marc Laribi, Med Amine Univ Poitiers Pprime Inst Dept GMSC CNRSENSMA F-86073 Poitiers France Nantes Univ Ecole Cent Nantes CNRS UMR 6004LS2N F-44000 Nantes France

This article deals with the development of a 6-degrees-of-freedom (DoF) hybrid interface for a teleoperated robotic platform intended to assist surgeons in cervical spine surgery. The targeted task is the drilling of cervical vertebrae for the attachment of spinal implants. Given the complex anatomy of the cervical region, with the proximity of the spinal cord and vertebral arteries, high accuracy in the drilling procedure is required to avoid complications for the patient. In this context, the proposed hybrid interface has been designed to meet the requirements of the drilling task, in terms of degrees of freedom, workspace, and force feedback, which have been identified through a literature review. It consists of an association of two parallel mechanisms and a centrally located serial mechanism. Direct and inverse kinematic modeling of each mechanism and one of the complete interfaces were carried out. A study of the dexterity distribution of the parallel mechanisms was carried out to select the suitable interface working mode that would keep the singularities away from the prescribed workspace. In addition, the force feedback was implemented in static mode, neglecting in the first time the weight of the system. The interface design parameters were then optimized to avoid singularities within the prescribed workspace, to minimize motor torques, and to reduce the size of the interface. These development stages led to the design of a motorized prototype of the hybrid interface.

关键词： hybrid interface force feedback direct and inverse kinematic models optimization cervical spine surgery. haptic devices and tele-manipulators mechanism design mechanism synthesis mechanism synthesis and analysis medical robotics parallel mechanisms and robots

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Motion Modeling of a 5-Axis Delta Robot with Telescopic Shafts

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JOURNAL OF mechanisms AND ROBOTICS-TRANSACTIONS OF THE ASME 2024年第4期16卷 041013-041013页

作者： Alikoc, Baran Sustr, Vojtech Zitek, Filip Burget, Pavel Lomakin, Alexander Bahcesehir Univ Fac Engn & Nat Sci Dept Elect & Elect Engn TR-34353 Besiktas Istanbul Turkiye Czech Tech Univ Czech Inst Informat Robot & Cybernet Dept Testbed Ind 4 0 Prague 6 Czech Republic Siemens AG Frauenauracher Str 80 D-91056 Erlangen Germany

This paper deals with motion modeling of a 5-axis industrial Delta robot. The robot has extra rotational two degrees-of-freedom (DoF) realized with a wrist arm driven through two co-axial telescopic shafts as compared to the basic 3-DoF Delta robot. The kinematic model is derived with fully symbolic Jacobian matrices. Using the derived Jacobians, a novel simplified dynamic model is proposed based on the virtual work principle and the trajectory dependent artificial mass distribution. As compared to the existing literature, the proposed dynamic model does not require Lagrangian multiplier calculation or recursive and parallel computing so that it provides advantage for model-based control design. Also a linear regression model is provided to identify the dynamic parameters. The presented models are suitable to be employed for basic Delta and the extended Delta robots with parallel telescopic shafts as well. The derived models are verified through a Simulink model where the 3D CAD files of robot bodies having the information of real dimensions, masses and moments of inertia are used. The adequate agreement of the proposed dynamic model with the simulation results is illustrated via performing three different generated trajectory profiles. We also demonstrate the better accuracy of the proposed dynamic model as compared to a simplified and widely employed model for basic 3-DoF Delta robot. The simulation model is shared online to serve as a research and test platform for performing tasks such as motion planning, model prototyping, and control design.

关键词： Delta robot dynamic model parallel kinematics cardan shaft telescopic shaft mechanisms and robots multibody dynamics and control parallel mechanisms and robots parallel robots

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