Analysis and Experimentation of a 4-DOF Haptic Device

Ma, A.H.; Payandeh, Shahram

doi:10.1109/haptics.2008.4479970

Cited by 16 publications

(6 citation statements)

References 10 publications

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“…They are composed of three identical legs with three revolute joints. The main application of the SPMs is orienting device such as minimally invasive surgery master device [4,5] and camera orienting device [6,7]. Parallel manipulators performances depend on their geometric parameters.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of a new spherical parallel manipulator

Saafi

Laribi

Arsicault

et al. 2014

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

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This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic one.First, the less-singular working mode of the N_SPM was identified then an optimization of the dexterity is made to eliminate the singularity from the useful workspace. Finally, the optimal N_SPM is presented.

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Section: Introductionmentioning

confidence: 99%

Optimal design of a new spherical parallel manipulator

Saafi

Laribi

Arsicault

et al. 2014

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

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“…Haptic devices are systems used to increase the user's immersion for different applications, such as gaming [1], medicine [2,3] and virtual reality [4,5]. Furthermore, they are used for tasks where visual information is not sufficient; for example, the manipulation of radioactive objects.…”

Section: Introductionmentioning

confidence: 99%

Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation

2020

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This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R for revolute joint). The Forward Kinematic Model (FKM) is particularly addressed to allow the new master device to control the motion of a slave surgical robot. For this purpose, three methods are presented to solve the FKM and compared based on the criterion of time consuming and accuracy. For each method, namely, classic FKM, Improved method and serial FKM, the resolution procedure is detailed and the experimental validation is presented. After comparison, the serial approach involving the use of three sensors located on one leg of the master device is revealed as the most suitable. Experimental validation of the real-time motion control is successfully performed using the serial FKM.

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“…Spherical parallel manipulators provide three rotational degrees of freedom in several medical applications, such as laparoscopic surgery. 2,3 They are also used as haptic devices to control autonomous submarine vehicles. 4 However parallel mechanisms need complex kinematic models and can suffer from important singularity issues.…”

Section: Introductionmentioning

confidence: 99%

A new serial approach of the forward kinematic model of spherical parallel manipulators for real-time applications

Saafi

Vulliez

Zeghloul

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part C:

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Parallel architectures are increasingly used as haptic devices to provide low inertia, high stiffness and compactness. Thus, spherical parallel manipulators have been developed to generate the three rotational movements in a sufficient workspace. However, these parallel structures have complex kinematic models and can suffer from critical singularity issues. This paper proposes a serial approach to solve the forward kinematic model of a spherical parallel manipulator, which is used as a haptic device in minimally invasive surgery. The new forward kinematic model is based on the serial positioning of the three sensors on one leg rather than placing the three sensors on the three actuated base joints. The forward kinematic model calculation is thus simplified to be suitable for real-time applications (computing time around 5 µs) without cost increase. Parallel singularity effects are removed using this approach and the accuracy of the forward kinematic model is highly enhanced. Simulations were carried out to show the benefits of this approach. The resulting errors of the forward kinematic model calculation due to measurement noises do not exceed 0.2° along the workspace. Experiments were carried out to demonstrate the control of a surgical robot.

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Analysis and Experimentation of a 4-DOF Haptic Device

Cited by 16 publications

References 10 publications

Optimal design of a new spherical parallel manipulator

Optimal design of a new spherical parallel manipulator

Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation

A new serial approach of the forward kinematic model of spherical parallel manipulators for real-time applications

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