A review of spherical motion generation using either spherical parallel manipulators or spherical motors

Bai, Shaoping; Li, Xuerong; Ángeles, Jorge

doi:10.1016/j.mechmachtheory.2019.06.012

Cited by 64 publications

(17 citation statements)

References 98 publications

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“…The proper alignment between the exoskeleton and the anatomical joints of the wearer is still challenging. Particularly, the exoskeleton mechanism, which supports the shoulder and wrist joint, has to be kinematically a spherical joint [149]. It is required to replicate the actual shoulder and wrist movements that help to overcome the misalignment issues and to ensure the biomechanical compatibility of the design.…”

Section: Kinematic Compatibilitymentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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Exoskeleton robotics has ushered in a new era of modern neuromuscular rehabilitation engineering and assistive technology research. The technology promises to improve the upper-limb functionalities required for performing activities of daily living. The exoskeleton technology is evolving quickly but still needs interdisciplinary research to solve technical challenges, e.g., kinematic compatibility and development of effective human–robot interaction. In this paper, the recent development in upper-limb exoskeletons is reviewed. The key challenges involved in the development of assistive exoskeletons are highlighted by comparing available solutions. This paper provides a general classification, comparisons, and overview of the mechatronic designs of upper-limb exoskeletons. In addition, a brief overview of the control modalities for upper-limb exoskeletons is also presented in this paper. A discussion on the future directions of research is included.

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Section: Kinematic Compatibilitymentioning

confidence: 99%

A Review on Design of Upper Limb Exoskeletons

2020

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“…Having closed kinematic chains in their structure, PRs often possess higher stiffnesses, accuracies, speeds, and accelerations than their serial counterparts. Spherical parallel robots (SPRs) are a special category of PRs, in which the moving platform and the other moving links, are constrained to rotate about a single point, namely, the center of rotation (CR) [1] 1 . Although SPRs are made in various designs and target different applications, perhaps their substantial utilization is to rotate a specific object about a specific point, such as camera attitude [2] or minimally invasive surgeries (MIS) [3].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes

Hassani,

Bataleblu,

Khalilpour

et al. 2021

Preprint

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In this paper, derivation of different forms of dynamic formulation of spherical parallel robots (SPRs) is investigated. These formulations include the explicit dynamic forms, linear regressor, and Slotine-Li (S-L) regressor, which are required for the design and implementation of the vast majority of model-based controllers and dynamic parameters identification schemes. To this end, the implicit dynamic of SPRs is first formulated using the principle of virtual work in task-space, and then by using an extension, their explicit dynamic formulation is derived. The dynamic equation is then analytically reformulated into linear and S-L regression form with respect to the inertial parameters, and by using the Gauss-Jordan procedure, it is reduced to a unique and closed-form structure. Finally, to illustrate the effectiveness of the proposed method, two different SPRs, namely, the ARAS-Diamond, and the 3-RRR, are examined as the case studies. The obtained results are verified by using the MSC-ADAMS ® software, and are shared to interested audience for public access.

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“…The obtained model can also be used for sensitivity analysis and a dimensional optimization to ensure a constant dynamic transmission over the entire desired workspace. Based on the concept of an equivalent spherical mechanism, Boscariol et al (2017) proposed a method to investigate the direct kinematic problem of a tunnel digging machine, which reduces a lot of computation time compared to the traditional numerical solution. Nelson et al (2018) provided a redundant serial spherical linkage to avoid collision with the patient and to produce good kinematics and workspace.…”

Section: Introductionmentioning

confidence: 99%

“…Nelson et al (2018) provided a redundant serial spherical linkage to avoid collision with the patient and to produce good kinematics and workspace. Bai et al (2019) reviewed the state of the art of spherical-motion-generator kinematics, dynamics, design optimization, and novel spherical mechanisms with emerging applications and discussed some new research problems and future developments. As can be seen from the discussion above, the research mainly focuses on simple SPMs such as spherical four-bar linkage (Ruth and McCarthy, 1999;Sun et al, 2018), spherical six-bar linkage (Yang and Xu, 2005), and 2 DOF five-bar SPMs (Duan et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Singularity and branch identification of a 2 degree-of-freedom (DOF) seven-bar spherical parallel manipulator

et al. 2020

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Abstract. Spherical parallel manipulators (SPMs) have a great potential for industrial applications of robot wrists, camera-orientating devices, and even sensors because of their special structure. However, increasing with the number of links, the kinematics analysis of the complex SPMs is formidable. The main contribution of this paper is to present a kind of 2 degree-of-freedom (DOF) seven-bar SPM containing two five-bar spherical loops, which has the advantages of high reaction speed, accuracy rating, and rigidity. And based on the unusual actuated choices and symmetrical loop structure, an approach is provided to identify singularities and branches of this kind of 2 DOF seven-bar SPM according to three following steps. Firstly, loop equations of the two five-bar spherical loops, which include all the kinematic characteristics of this SPM, are established with joint rotation and side rotation. Secondly, branch graphs are obtained by Maple based on the discriminants of loop equations and the concept of joint rotation space (JRS). Then, singularities are directly determined by the singular boundaries of the branch graphs, and branches are easily identified by the overlapping areas of JRS of two five-bar spherical loops. Finally, this paper distinguishes two types of branches of this SPM according to whether branch points exist to decouple the kinematics, which can be used for different performance applications. The proposed method is visual and offers geometric insights into understanding the formation of mobility using branch graphs. At the end of this paper, two examples are employed to illustrate the proposed method.

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A review of spherical motion generation using either spherical parallel manipulators or spherical motors

Cited by 64 publications

References 98 publications

A Review on Design of Upper Limb Exoskeletons

A Review on Design of Upper Limb Exoskeletons

Dynamic Models of Spherical Parallel Robots for Model-Based Control Schemes

Singularity and branch identification of a 2 degree-of-freedom (DOF) seven-bar spherical parallel manipulator

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