A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

Ennaiem, Ferdaws; Chaker, Abdelbadiâ; Sandoval, Juan; Mlika, Abdelfattah; Romdhane, Lotfi; Bennour, Sami; Zeghloul, S.; Laribi, Med Amine

doi:10.1017/s0263574722000923

Cited by 5 publications

(4 citation statements)

References 29 publications

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“…Hybrid devices, as detailed in reference [10][11][12][13], have started to make significant inroads across various domains. Saafi et al [14] have introduced a novel hybrid haptic device which combines elements of a parallel chain and a serial chain.…”

Section: Introductionmentioning

confidence: 99%

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

Meskini,

Trabelsi,

Saafi

et al. 2024

Machines

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The main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipulator. The tele-operation system is composed of a new hybrid haptic device (nHH) intended to be used as a master manipulator controlling a collaborative robot, used as a slave surgical robot. The resolution of the forward kinematic model (FKM) of the master device is performed experimentally thanks to the use of an extra sensor. The IMU, as the extra sensor, is installed on the serial part of the nHH device to measure the orientation and is enabled to solve the FKM of the parallel part of the nHH device. The use of an extra sensor reduces the calculation time, improves the accuracy of the KFM, and makes it suitable for real-time applications. The preliminary validation of the force feedback in the nHH workspace is validated. Experiments were conducted on the master–slave platform to validate the proposed approach. The results are promising, which proves that the nHH device presents a suitable performance for the desired task.

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Section: Introductionmentioning

confidence: 99%

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

Meskini,

Trabelsi,

Saafi

et al. 2024

Machines

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“…Cable-driven rehabilitation robots (CDRR) are commonly used in the rehabilitation field (e.g., Carex [21], CUBE [6], NereBot [14], CADEL [19, 35]), offering several promising features such as low inertia, high payload-to-weight ratio, and large workspace [5, 13, 16]. These advantages are largely due to the position of the actuators which are usually fixed to the ground, strongly reducing the mass to be moved: pulleys are used to make possible variations in the orientation of the cables, while the payload is connected to the cables via hooks.…”

Section: Introductionmentioning

confidence: 99%

Vibrations of cable-suspended rehabilitation robots

Zuccon,

Doria,

Bottin

et al. 2023

Robotica

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Rehabilitation robots help the treatment of diseases by performing cyclic exercises for a long period of time. These exercises must perform movements of the patient’s limbs; thus, the robots are required to be flexible and safe. Among rehabilitation robots, cable robots are widely used due to their unique properties, such as being lightweight and the possibility of being equipped with magnetic hooks to improve both safety and ease of use. However, the elasticity and flexibility of cables result in vibrations of the payload and hooks. In this paper, the forced vibrations due to rehabilitation exercises are studied. Since the previous studies of the authors showed a weak coupling between longitudinal and transverse vibrations, a two-cable planar model for the study of transverse vibrations is developed. The model makes it possible to study the forced transverse vibrations due to both cable motion and robot motion. Stiffness and damping of the patient’s arm are considered. Results show that the cable system exhibits a simple linear behavior when excited by robot motion and a non-linear behavior when excited by cable motion.

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“…Hybrid devices as presented in refs. [18][19][20][21] started to take their places in a lot of fields. A new hybrid haptic device (Fig.…”

Section: Introductionmentioning

confidence: 99%

Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery

Meskini¹,

Saafi²,

Mlika³

et al. 2023

Robotica

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This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large workspace of the serial robots. The optimal synthesis of the nHH was performed using real-coded genetic algorithms. The optimization criteria and constraints were established and successively formulated and solved using a mono-objective function. A validation and comparison study were performed between the spherical parallel manipulator and the nHH. The obtained results are promising since the nHH is compared to other similar task devices, such as spherical parallel manipulator, and presents a suitable kinematic performance with a task workspace free singularity inside.

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A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue

Cited by 5 publications

References 29 publications

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

Experimental Use Validation of the Master Hybrid Haptic Device Dedicated to Remote Center-of-Motion Tasks

Vibrations of cable-suspended rehabilitation robots

Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery

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