A geometrical approach for configuration and singularity analysis of a new non-symmetric 2DOF 5R Spherical Parallel Manipulator

Alamdar, Alireza; Farahmand, Farzam; Behzadipour, Saeed; Mirbagheri, Alireza

doi:10.1016/j.mechmachtheory.2019.103747

Cited by 23 publications

(10 citation statements)

References 18 publications

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“…Agile Eye [23], however, has been shown to be incapable of meeting the collision free design requirement of the manipulator [3]. Hence, this study investigated the performance of a new nonsymmetric structure of 5R-SPM, with orthogonal links in one chain and links with arbitrary lengths in the other [24], for this application (Fig. 2).…”

Section: A Conceptual Designmentioning

confidence: 99%

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A modified agile-eye mechanism for robotic manipulation of wristed laparoscopic instruments

Alamdar¹,

Hanifeh²,

Mirbagheri³

et al. 2021

Preprint

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<div>Replacement of the exclusively designed instruments of the robotic surgery systems with the commercial hand-held wristed instruments provides advantages such as single-usability and cost reduction. A 4-DOF robotic system, based on a modified non-symmetric 2-DOF agile-eye mechanism, was developed to manipulate the hand-held wristed instruments. The kinematics of the mechanism was analyzed, its dimensions were optimized, and a functional prototype was tested experimentally. The optimized mechanism had a great kinematic isotropy (condition number <1.31) in the target workspace. Experimental studies revealed a high tracking accuracy ($0.27 +- 0.01 deg rms for the worse case) and a reasonably acceptable compliance (0.19 deg/N.m and 0.45 deg/N.m for the first and second kinematic chains respectively). By satisfying the design requirement, the robotic manipulator provides an attractive choice for robotic surgery systems. The performance of the manipulator can be improved further by increasing the stiffness of the second kinematic chain and performing kinematic calibration.</div>

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Section: A Conceptual Designmentioning

confidence: 99%

“…A thorough kinematic and singularity analysis of the proposed non-symmetric agile-eye mechanism is provided in [24]. According to the results, the mechanism has four working modes, i.e.…”

Section: B Kinematic Optimizationmentioning

confidence: 99%

A modified agile-eye mechanism for robotic manipulation of wristed laparoscopic instruments

Alamdar¹,

Hanifeh²,

Mirbagheri³

et al. 2021

Preprint

Self Cite

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“…This new telesurgery system is introduced by Sina Robotics and Medical Innovators Co. [18] (Tehran, Iran) in 2017 by providing novel features for the patient side and surgeon side. The robot has an adjustable master console, modular surgical robotic arms integrated with the 3-DoF bed in the slave side [19,20], and a novel cameraman robot, called Robolens bedside . More specifically, a new 7-DoF hybrid haptic interface, including 3-DoF translation, 3-DoF orientation and 1-DoF grasp, is designed with 3-DoF force feedback.…”

Section: Introductionmentioning

confidence: 99%

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

Aghanouri¹,

Moradi²,

Alibeik³

et al. 2022

Preprint

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Robotic surgery technique has gained admissibility in recent years. To provide ergonomic postures for the surgeon along with dexterous workspace for the Sinaflex robotic telesurgery system, a new haptic interface is introduced at the surgeon side of the robot. To analyze its performance, in this paper, the forward and inverse kinematics of the master manipulator are derived using a new geometrical approach. The workspace of the robot is derived, and its dexterity is investigated. Finally, to show the operational workspace and dexterity, the data collected during a dogs’ vasectomy robotic surgery by Sinaflex are analyzed. According to the simulation results, the workspace of the end effector is as large as 600×571×560 mm3 which is 40 times greater than the ergonomic human hand workspace. The in-vivo experiment shows that the operational surgery workspace is about 2.6% and 3.4% of the whole workspace for the left and right master manipulator, respectively. The dexterity of the robot based on the Global Conditioning Index, during simulation and experiment, for the position is 0.4557 and 0.6565, respectively. A large workspace along with its high dexterity of the master manipulator of Sinaflex robotic telesurgery system make it a good choice to fulfill robotic surgery technique requirements.

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“…[9] to the study of planar serial-parallel hyper-redundant designs. A similar geometrical approach has been used to evaluate the workspace of spherical parallel manipulators, with early works [10] on symmetric mechanisms and recent ones on asymmetric designs [11].…”

Section: Introductionmentioning

confidence: 99%

A geometrical formulation for the workspace of parallel manipulators

Russo

Ceccarelli

2021

Robotica

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In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using a recursive approach as an extension of volume generation for solids of revolution. In this approach, the workspace volume and boundary for each limb of the parallel manipulator is obtained with an algebraic formulation derived from the kinematic chain of the limb and the motion constraints on its joints. Then, the overall workspace of the mechanism can be determined as the intersection of the limb workspaces. The workspace of different kinematic chains is discussed and classified according to its external shape. An algebraic formulation for the inclusion of obstacles in the computation is also proposed. Both analytical models and numerical simulations are reported with their advantages and limitations. An example on a 3-SPR parallel mechanism illustrates the feasibility of the formulation and its efficiency.

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A geometrical approach for configuration and singularity analysis of a new non-symmetric 2DOF 5R Spherical Parallel Manipulator

Cited by 23 publications

References 18 publications

A modified agile-eye mechanism for robotic manipulation of wristed laparoscopic instruments

A modified agile-eye mechanism for robotic manipulation of wristed laparoscopic instruments

Workspace and Dexterity Investigation of the Master Robot in Sina flex Robotic Telesurgery System: An in Vivo Validation

A geometrical formulation for the workspace of parallel manipulators

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