An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

Durgesh, Haribhau; Michel, Guillaume; Kumar, Shivesh; Sanguineti, Marcello; Chablat, Damien

doi:10.1016/j.mechmachtheory.2022.104796

Cited by 6 publications

(2 citation statements)

References 55 publications

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“…The kinematics proposed in the patent to achieve the rotation was optimised in [ 19 , 20 ]. It is a 2UPS-1U spherical parallel mechanism with an optimal position in the centre of the desired workspace.…”

Section: Mechanism Solution For Patient Safetymentioning

confidence: 99%

A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device

Michel

Bordure

Chablat

2022

Sensors

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In the field of sinus and ear surgery, and more generally in microsurgery, the surgeon is faced with several challenges. The operations are traditionally carried out under binocular loupes, which allows for the surgeon to use both hands for a microinstrument and an aspiration tool. More recently, the development of endoscopic otological surgery allowed for seeing areas that are difficult to access. However, the need to handle the endoscope reduces the surgeon’s ability to use only one instrument at a time. Thus, despite anaesthesia, patient motions during surgery can be very risky and are not that rare. Because the insertion zone in the middle ear or in the sinus cavity is very small, the mobility of the endoscope is limited to a rotation around a virtual point and a translation for the insertion of the camera. A mechanism with remote center motion (RCM) is a good candidate to achieve this movement and allow for the surgeon to access the ear or sinus. Since only the translational motion along the main insertion axis is enabled, the ejection motion along the same axis is safe for the patient. A specific mechanism allows for inserting and ejecting the endoscope. In a sense, the position is controlled, and the velocity is limited. In the opposite sense, the energy stored in the spring allows for very quick ejection if the patient moves. A prototype robot is presented using these new concepts. Commercially available components are used to enable initial tests to be carried out on synthetic bones to validate the mobility of the robot and its safety functions.

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Section: Mechanism Solution For Patient Safetymentioning

confidence: 99%

A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device

Michel

Bordure

Chablat

2022

Sensors

Self Cite

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“…Enlightened by the practicable requirement, many studies investigated different issues containing the type enumerations [14], kinematics and dynamics models [15,16] and controller design of the developed parallel manipulators with three-DOF translational performance [17]. Despite many research works concerning the kinematic design of this type of parallel manipulators exist, previous works related to the kinematic performance still mainly focused on a conditioning index [18] obtained from the Jacobian matrix, such as the condition number, determinant and singular values, etc.…”

Section: Introductionmentioning

confidence: 99%

Transmission Angle Analysis of a Type of Parallel Manipulators

2022

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In most research works, the conditioning index is used to analyze the kinematic performance of a type of parallel manipulators whose traveling plate has only translation in the workspace, and each limb is made up of three joints and two moving links. However, it is difficult to determine the reasonable limit value of the conditioning index as the design criterion. Therefore, this paper defines two types of transmission angles to evaluate the kinematic performance of parallel manipulators, with which the direct and indirect singularities can be identified in a straightforward manner. Taking both the Diamond and Delta parallel manipulators as examples, the relationships are investigated between the angles and the condition number of the Jacobian, which is a vital performance index for parallel manipulators throughout the workspace. Then, simulation studies are conducted to prove the effectiveness of two kinds of transmission angles for the Diamond and Delta robots. It indicates that the defined angles are well characterized compared with the condition number of the Jacobian matrix in evaluating the kinematic performance of the parallel manipulators and determining the workspace.

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Kinematics characteristics analysis of a 3-UPS/S parallel airborne stabilized platform

Han

Jiang

Yang

et al. 2023

Aerospace Science and Technology

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An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints

Cited by 6 publications

References 55 publications

A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device

A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device

Transmission Angle Analysis of a Type of Parallel Manipulators

Kinematics characteristics analysis of a 3-UPS/S parallel airborne stabilized platform

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