Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Araujo-Gómez, Pedro; Díaz‐Rodríguez, Miguel; Mata, Vicente; Valera, Ángel; Page, Álvaro

doi:10.1007/978-3-319-33714-2_34

Cited by 12 publications

(8 citation statements)

References 9 publications

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“…The 3UPS-1RPS parallel manipulator Araujo-Gómez et al in [23] developed the parallel manipulator that will be optimized in this paper. The manipulator's design considers that a rehagnosis task of the knee requires 2R2T motion to be applied on the foot of a lower limb.…”

Section: 1mentioning

confidence: 99%

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Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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The need of a device providing two translational (2T) and two rotational (2R) movements led us to the design a 3UPS-1RPU parallel manipulator. The manipulator consisted on a mobile platform connected to a base through four legs. That is, the manipulator layout has one central leg and three external legs at the same radial distance. By studying different locations of the legs anchoring point, we improved the first layout design, yet not the optimal one. On this basis, this paper focus on the optimal dimensional design of the manipulator. To this end, we put forward the kinematics equations of the manipulator in accordance to the anchoring points coordinates. Through a numerical approach, the equations enable to find the manipulator workspace. Also, we find a global manipulability index using a local dexterity measure. The latter index serves as optimal function. The optimization process considers joint constraints. Thus, we built a nonlinear optimization problem solved through sequential quadratic programming algorithms. We start by optimizing only a small set of parameters rather than the entire set, which gives us insights on the initial guess to optimize using the entire set. The optimal design layout varies from the original layout. Findings suggest that a task-oriented reconfiguration strategy can improve manipulator performance.

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Section: 1mentioning

confidence: 99%

“…Due to the need of a robot able to perform 2T2R movements at its end-effector, Araujo-Gómez et al in [23] proposed a 3UPS-1RPU PM for knee rehagnosis (rehabilitation and diagnosis). Note that, U, P, R, and S stand for universal, prismatic, revolute and spherical joints.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez

Díaz‐Rodríguez

Mata

et al. 2019

J Braz. Soc. Mech. Sci. Eng.

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“…La diferencia de la movilidad (2T2R) del modelo 3UPE-RPU con los anteriormente expuestos, resulta en una mejora de la emulación de movimientos realizados en programas de rehabilitación; además su configuración con brazo central proporciona mayor rigidez y capacidad de carga [8].…”

Section: A Robot 3upe-rpuunclassified

Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

Morales¹,

Baño²,

Zambrano³

et al. 2018

Proceedings of the 16th LACCEI International Multi-Conference for Engineering, Education, and Technology: “Innovation in Educat

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This ARTICLE aims to design and build a robot that is able to assist with the rehabilitation treatments of the lower limb. The robot has a mobility of 4 degrees of freedom, two movements of translation and two of rotation, these degrees of freedom are considered based on the flexo-extension movements and internal and external rotation of the lower limb. In the kinematic analysis, the developed equations are characterized by studying the kinematic chain of each element of the robot (arms and platform) separately, through the Denavit & Hartenberg methods and the Euler rotation angles respectively, describing the positions which adopt the joints of each arm separately, and then establish the relationships between each of them. The expressions describing the velocity and acceleration of each element of the robot are derived from the position equations founded. For the validation of results a program is presented which is able to simulate the movements of the robot and show the relation between the positions of the articulations of the arms of the robot and the position of the platform in the space; the results founded through this program show that there is a negligible difference between the positions of the vertices of the platform and the ends of the arms of the robot, when making any movement.

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“…For example, the rehabilitation mechanism that motivated this study [18] was designed for lower limb rehabilitation. We have noted that when the condition number of the Jacobian matrix related to the human leg is determined, there are points where its value is high, implying that the limb at that point does not present good mobility.…”

Section: Introductionmentioning

confidence: 99%

Performance Index for Dimensional Synthesis of Robots for Specific Tasks

2022

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This study proposes a performance index for the dimensional optimization of parallel manipulators with specific tasks. In particular, the index evaluates the dexterity of the mechanism to be designed and compares it with that of the required specific task, e.g., rehabilitation tasks. The proposed index is implemented to design a 3UPS + RPU parallel manipulator for performing physical rehabilitation treatments on lower limbs. First, the condition numbers of both the mechanism and the lower limb are determined. Subsequently, the indexes are compared such that both systems exhibit similar dexterity. As a case study, the approach is implemented in the dimensional synthesis of the 3UPS + RPU parallel manipulator. The optimization approach enables obtaining a dexterity space of the mechanism that best matches that of the lower limb. The results are graphically presented, showing the matching areas of both workspaces, verifying the effectiveness of the proposed index.

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Design of a 3-UPS-RPU Parallel Robot for Knee Diagnosis and Rehabilitation

Cited by 12 publications

References 9 publications

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Análisis Cinemático de un Robot Paralelo de Tipología 3UPE RPU

Performance Index for Dimensional Synthesis of Robots for Specific Tasks

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