Design and Control System of Parallel Kinematic Manipulator

This paper presents the concept of a novel telemanipulator for minimally invasive surgery, along with numerical analysis to validate the main system performance. The proposed kinematic structure consists of a passive and an active module. The passive module is similar to the Selective Compliance Assembly Robot Arm - SCARA robot. The active module is based on a parallelogram mechanism. The results of the numerical study are discussed, focusing on the influence of geometry parameters of the kinematic chain on the displacement accuracy of the end-effector. In particular, the paper deals with the identification of the main factors that impact the position accuracy of the robot.

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“…It is possible to use the new solution of robot structure with a 2 DOF effector 36 or to implement parallel kinematics. 37,38…”

Section: Resultsmentioning

confidence: 99%

Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

et al. 2019

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“…G-code can be imported from an external file or it can be edited directly in the Step2CNC software. 31,32 The software was calibrated to use angular position as input. The position and the speed of movement can be controlled.…”

Section: Exoskeleton Control Systemmentioning

confidence: 99%

Design and control of system for elbow rehabilitation: Preliminary findings

et al. 2018

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Background. The use of an exoskeleton elbow is considered an effective treatment in several pathologies, including post-stroke complications, traumatic brain injury (TBI) and spinal cord injury (SCI), as well as in patients with neurodegenerative disorders. The effectiveness of rehabilitation is closely linked to a suitably chosen therapy. The treatment can be performed only by specialized personnel, significantly supported with the use of automated devices. Objectives. The aim of this study was to present a novel exoskeleton for elbow rehabilitation without a complicated control system. Material and methods. Single-degree-of-freedom (SDOF) solution in constructing the prototype of an elbow exoskeleton for rehabilitation purposes has been applied. The simplicity of the actuation mechanism was set as one of the priorities in the design; thus, a single-axis stepper motor with a controller was found to be adequate for providing a reliable and precise source of motion for the exoskeleton. Results. Technological development may provide novel solutions, such as an exoskeleton-a wearable, external structure which supports or (in selected applications) even replaces the muscle actuation in the patient. The reported advantages of the proposed exoskeleton reflect current state-of-the-art. The proposed control strategy relies on closed-loop position control, performance, low manufacturing cost, and predicted performance in a rehabilitation scenario. All these factors play an important role in establishing the directions for further research, e.g., an integrated force sensor in the device, measurements of torque interactions on the elbow joint, and assessment and response to an overload of articulation. Conclusions. This study suggests not only the clinical but also the possible economic and logistical advantages offered by the portability of the system, and its effective support for therapists applying an elbow exoskeleton.

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“…In [22] an optimization problem of placement of a simple two-link planar manipulator by using a genetic algorithm is presented. The problem of optimization the trajectories between 2 positions (configurations) from an application was studied and solved in [20][21][22][23][24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Optimization of the Robot's Position Base Point by Using the Proper Algorithm and Iterative Pseudo Inverse Jacobian Neural Network Matrix Method

Olaru

Mihai³

et al. 2016

AMM

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In the robotized production one of the more important think is to choose the optimal solution to use the robots with respect an objective function which represents, for example, minimum time of motion during a application, or minimum consumption of energy, or maximum precision, or combination of these. Some objective functions could results from the specificity of the application like is the case of casting of forging, where the minimum of the accumulation of heat could be one of the optimization criteria. In the controlling of the space movement of the end effecter and the robot’s joints of the all robots from the applications, one of the most important think is to know, with the extreme precision, the joints relative displacements of all robots. One of the most precise method to solve the inverse kinematics problem in the robots with redundant chain is the complex coupled method of the neural network with Iterative Pseudo Inverse Jacobian Matrix Method. In this paper was used the proper coupled method Iterative Pseudo Inverse Jacobian Matrix Method (IPIJMM) with Sigmoid Bipolar Hyperbolic Tangent Neural Network with Time Delay and Recurrent Links (SBHTNN-TDRL) to establish the optimal position of the application point of the robot's base with respect simultaneously two objective functions: the extreme precision and the minimum of the movements time. The paper shown how can be changed the multi robots application in to one application with parallel robot structure with three independent robots, all of them with optimal location point with respect the obiective function. The presented method and the virtual instrumentations (VI) are generally and they can be used in all other robots application and for all other conventional and unconventional space curves.

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Design and Control System of Parallel Kinematic Manipulator

Cited by 9 publications

References 9 publications

Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

Design and control of system for elbow rehabilitation: Preliminary findings

Optimization of the Robot's Position Base Point by Using the Proper Algorithm and Iterative Pseudo Inverse Jacobian Neural Network Matrix Method

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