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7th International Workshop on New Trends in Medical and Service robotics (MESROB)

作者： Gherman, Bogdan Tucan, Paul Vaida, Calin Carbone, Giuseppe Pisla, Doina Tech Univ Cluj Napoca Cluj Napoca Romania Univ Calabria Arcavacata Di Rende Italy

ISBN: (纸本)9783030761479;9783030761462

The paper presents the novel design of the ParReEx-elbow robotic system for the rehabilitation of the upper limb, namely the elbow flexion-extension and pronation-supination. Initially designed for post-stroke rehabilitation, the robot is now fitted for brachial monoparesis treatment, a manifestation of a broad range of neurologic diseases. Following the critical feedback and positive outcomes of previously performed clinical trials an improved design has been proposed. Validation simulations (FEM analysis and dynamic simulation) using the novel CAD robot model are presented, the results showing that the robot can be efficiently used for the proposed medical task.

关键词： parallel robot Upper limb rehabilitation Design FEM-analysis Dynamic simulation

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APPLICATION ORIENTED MODELLING AND SIMULATION OF AN INNOVATIVE parallel robot FOR SINGLE INCISION LAPAROSCOPIC SURGERY

APPLICATION ORIENTED MODELLING AND SIMULATION OF AN INNOVATI...

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ASME International Design Engineering Technical Conferences / 42nd Annual Computers and Information in Engineering Conference (IDETC-CIE) / 46th Mechanisms and robotics Conference (MR)

作者： Pisla, Doina Gherman, Bogdan Tucan, Paul Birlescu, Iosif Pusca, Alexandru Rus, Gabriela Pisla, Adrian Vaida, Calin Tech Univ Cluj Napoca Cluj Napoca Romania

ISBN: (纸本)9780791886281

Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act, these being defined by the reduced hospitalization time, the reduced recovery time, and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot control system architecture of PARA-SILSROB. A CAD motion simulation validates the mathematical model using Siemens NX.

关键词： parallel robot kinematics modeling simulation robotic assisted SILS

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Sensorless admittance control of 6-DoF parallel robot in human-robot collaborative assembly

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robotICS AND COMPUTER-INTEGRATED MANUFACTURING 2024年 88卷

作者： Sun, Tao Sun, Jiarui Lian, Binbin Li, Qi Tianjin Univ Key Lab Mech Theory & Equipment Design Minist Educ Tianjin 300350 Peoples R China Tianjin Univ Zhejiang Int Inst Innovat Design & Intelligent Mfg Shaoxing 312000 Peoples R China Tianjin Key Lab Aerosp Intelligent Equipment Techn Tianjin 300301 Peoples R China

This paper presents an adaptive admittance control to achieve human-robot collaborative (HRC) assembling of large, heavy components without using external sensors. This sensorless adaptive admittance control is constructed by the dynamic model of a six degree-of-freedom (DoF) parallel robot based on finite and instantaneous screw (FIS) theory. The dynamic model is intuitive and easy to be programmed. After getting stable actuation force by Kalman filter and identifying friction by LuGre model, accurate force estimator is built. Admittance controller is adopted to convert the change of estimated force to the change in position, velocity and acceleration. As a result, the 6-DoF parallel robot is capable of following the guidance of operator. Particularly, adaptive admittance control is design by using robot velocity as reference. A fast motion before contacting and a fine motion during contacting are allowed. Experiments are conducted to verify force estimator, admittance control and adaptive admittance control for HRC assembly. Results show that external force is accurately estimated. robot complaint control in response to operator's force is achieved. The adaptive admittance control enhances execution time, accuracy of the HRC assembly.

关键词： parallel robot Finite and instantaneous screw Human -robot collaborative assembly Adaptive admittance control

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Kinematic Parameter Identification for a parallel robot with an Improved Particle Swarm Optimization Algorithm

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APPLIED SCIENCES-BASEL 2024年第15期14卷 6557页

作者： Yu, Dayong Univ Shanghai Sci & Technol Sch Mech Engn Shanghai 200093 Peoples R China

The spacecraft docking motion simulation system for on-orbit docking plays a very important role in some theoretical research and engineering application fields. The parallel robot utilized in the spacecraft docking simulation system requires high positioning and orientation accuracy to achieve better simulation results. A novel kinematic parameter identification method with an improved particle swarm optimization (PSO) algorithm is proposed to enhance positioning and orientation accuracy of the parallel robot. A fitness function is established using these residuals between the measured and computed poses by a coordinate measuring machine and forward kinematics. The kinematic parameter identification problem is turned into a high-dimensional nonlinear optimization in which the unknown kinematic parameter errors are regarded as optimal variables. The optimal variables are solved by the proposed improved PSO algorithm. The mean values of the positioning and orientation errors are reduced from 4.3268 mm and 0.2221 deg to 0.7692 mm and 0.0674 deg, respectively. The proposed kinematic parameter identification method increases the positioning accuracy mean by 22.26% and the orientation accuracy mean by 32.80% compared with the least squares method. The kinematic parameter identification method with the improved PSO algorithm can effectively enhance positioning and orientation accuracy of the parallel robot for docking motion simulation.

关键词： parallel robot parameter identification particle swarm optimization algorithm pose accuracy nonlinear least squares

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Designing a Twisting Algorithm for Delta parallel robot Control 10

Designing a Twisting Algorithm for Delta Parallel Robot Cont...

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10th RSI International Conference on robotics and Mechatronics (ICRoM)

作者： Moghadam, Masoome Daliry Ahmadi, Habib Bamdad, Mahdi Shahrood Univ Technol Sch Mech & Mechatron Engn Shahrood Iran

ISBN: (纸本)9781665454520

This paper describes a twisting algorithm for a three-degree-of-freedom Delta parallel robot. The position of the actuators is obtained by closed-loop equations of inverse kinematics of the Delta robot. Due to additional constraints, the generalized Lagrange method is used to obtain dynamics equations. The Jacobian matrix has been extracted to calculate the robot's linear and rotational velocity and acceleration. Then the classical sliding mode controller (SMC) has designed. The invariance is an inherent characteristic of the SMC, which guarantees robustness. It could have devastating effects due to the chattering phenomenon with the presence of un-modeled dynamics and the health of the actuators is a concern. Due to reducing the chattering and finite time convergence with minimum tracking error in all three directions of x, y, and z, and remaining in a steady state, a kind of second-order twisting algorithm is defined. The simulation through MATLAB/Simulink shows that time convergence is half of the time in SMC, and the desired trajectory tracking error is also lower. This shows that the error tends to zero by applying this controller to the system with the most downward fluctuation. The motor control torque in the z direction where gravity acceleration enters performs better in the twisting algorithm.

关键词： Delta parallel robot Control Twisting Sliding Mode

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Novel co-simulation technique in the flexible analysis of a parallel robot 10

Novel co-simulation technique in the flexible analysis of a ...

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10th RSI International Conference on robotics and Mechatronics (ICRoM)

作者： Hollari, Reza Nopour Taghvaeipour, Afshin Aghdam, Mohammad Mohammadi Gonzalez, Francisco Amirkabir Univ Technol Dept Mech Engn Tehran Iran Univ A Coruna Lab Ingn Mecan Ferrol Spain

ISBN: (纸本)9781665454520

This manuscript exploits the efficiency of the co-simulation technique for analyzing parallel mechanisms, in which the flexible behaviour of components is considered. In this regard, first, a co-simulation scheme is introduced, followed by formulations of a benchmark problem, the flexible slider-crank mechanism. Finally, a 3RRR parallel robot with flexible links is assessed. Numerical experiments revealed the ability of co-simulation, in which rigid and flexible links are solved separately, to provide precise results in the analysis.

关键词： parallel robot modelling co-simulation flexible mechanism

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Par4 parallel robot Trajectory Tracking Control Based on DMR-GWO2 and Fuzzy Predictive

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INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS 2021年第1期14卷 1597-1606页

作者： Zhang, Xiaoqing Ming, Zhengfeng Xianyang Normal Univ Sch Phys & Elect Engn 43 Wenlin Rd Xianyang 712000 Shaanxi Peoples R China Xidian Univ Sch Mechanoelect Engn 2 South Taibai Rd Xian 710000 Shaanxi Peoples R China

A dynamic Grey Wolf Optimizer (GWO) is proposed, noted as DGWO2, and a novel dynamic improved GWO algorithm is obtained after transferring the mutation operator and the eliminating-reconstructing mechanism to the DGWO2, noted as DMR-GWO2. A Type-2 fuzzy predictive compensation PID trajectory tracking controller based on the DMR-GWO2 is proposed to attain the tracking targets for the trajectory control of Par4 parallel robot. In the trajectory tracking controller, the DMR-GWO2 is designed for optimizing the Type-2 fuzzy logic controller which is in parallel with the PID controller to speed up the response of the parallel robot and to get the high adaptive capacity of the whole system. One input of the Type-2 fuzzy logic controller is the tracking error, while the other input is the sum of the derivative of the tracking error and the change rate of the expected angle. Finally, the experiments verify the effectiveness of the designed trajectory tracking controller and the tracking errors are small. (C) 2021 The Authors. Published by Atlantis Press B.V.

关键词： parallel robot Trajectory tracking control Type-2 fuzzy predictive compensation controller Grey wolf optimizer

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Dynamic Stiffness Modelling of a 3PUS + 1PU parallel robot as a Machine Tool for the Aspheric Lens Processing 24th

Dynamic Stiffness Modelling of a 3PUS + 1PU Parallel Robot...

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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Fan, Shuai You, Xiangxiang Xiao, Yao Gao, Shun Su, Zelin Liang, Ye He, Tao Chen, Lufeng Lan, Weibin School of Mechanical and Electrical Engineering Chengdu University of Technology Sichuan Chengdu 610059 China Center for Robotics University of Electronic Science and Technology of China Sichuan Chengdu 611731 China

ISBN: (纸本)9789819614660

Many parallel robots as machine tools have been designed and manufactured, while only a few are commercialized in actual applications. One of the important reasons is that the large divide between theoretical accuracy and actual accuracy. Although some complete static stiffness modeling methods and some overall static stiffness indexes for parallel robots have been proposed, but there is relatively little research on the dynamic stiffness performance, which is very important to guarantee the best machining accuracy of parallel robots as machine tools. Considering the processing requirements of the aspheric lens, a machine tool based on a 3PUS + 1PU parallel robot is designed. Taking the 3PUS + 1PU parallel robot with a passive chain and few degrees of freedom as the implementation object, the kinematics and dynamics analysis are presented respectively, and the dynamic stiffness model is derived based on the Kane’s equation and screw theory. Comparing with the distribution of dynamic stiffness in the workspace of the proposed mechanism, the proposed method enriches the research of the dynamic stiffness modelling of parallel robots as machine tools, and the result can also provide reference for structural parameter design and vibration control optimization. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Aspheric lens Dynamic stiffness Dynamics Machine tool parallel robot

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Identification of geometric parameters of a parallel robot by using a camera calibration technique

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2021年第2期35卷 729-737页

作者： Arredondo-Soto, Mauricio Garcia-Murillo, Mario A. Cervantes-Sanchez, J. Jesus Torres, Felipe J. Moreno-Avalos, Hector A. Univ Guanajuato Dept Mech Engn Salamanca 36000 Mexico Autonomous Univ Coahuila Fac Mech & Elect Engn Torreon 27276 Coahuila Mexico

This work reports a novel method to estimate the geometrical parameters of a 2-(3-RRPS) parallel robot intended for manufacturing tasks. The method uses camera calibration techniques, and it is based on the concept of vertex space. The advantage of this technique is that the system does not require complex electronic instrumentation, and only uses a CCD camera as a main sensor and planar patterns, which makes it portable, accurate and low cost. To ensure the quality of the measurements, a methodology for characterization of the measurement system is included. The applicability and the advantages of using the proposed method are shown by means of the estimation of the geometrical dimensions of a spatial parallel manipulator with a relatively complex kinematic architecture. Experiments are conducted and show a significant improvement in manipulator accuracy when the parameters estimated with this technique are used.

关键词： Camera calibration Geometric parameter parallel robot Vertex space

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Analysis and Preliminary Design of a New parallel robot for SILS 23

Analysis and Preliminary Design of a New Parallel Robot for ...

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23rd IEEE International Conference on Automation, Quality and Testing, robotics (AQTR)

作者： Ulinici, Ionut-Mihai Crisan, Nicolae Vaida, Calin Andras, Iulia Pisla, Doina Tech Univ Cluj Napoca CESTER Res Ctr Robots Simulat & Testing Cluj Napoca Romania Iuliu Hatieganu Univ Med & Pharm Dept Urol Cluj Napoca Romania

ISBN: (纸本)9781665479332

This paper aims to present a new robotic structure for Single Incision Laparoscopic Surgery (SILS). A short introduction into the SILS procedure is presented, followed by a definition of the requirements of a robotic structure for SILS based on the medical protocol for the surgical procedure. A simplified CAD model of a novel design for a modular parallel robotic structure is presented along with a detailing of its kinematic chains and the functionality of the robotic structure capable of achieving the motion particularities of a single-port surgical procedure, furthermore a conceptual control scheme based on the master-slave concept for this robotic structure is presented.

关键词： parallel robot SILS laparoscopic surgery CAD model conceptual design

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