Forward Kinematics Model for Evaluation of Machining Performance of Robot Type Machine Tool

Hayashi, Akio; Tanaka, Hiroto; Ueki, Masato; Yamaoka, Hidetaka; Fujiki, Nobuaki; Morimoto, Yoshitaka

doi:10.20965/ijat.2021.p0215

Cited by 4 publications

(2 citation statements)

References 22 publications

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“…The analytical method can accurately describe the relationship between the joints and the pose of the parallel mechanism. However, there are often multiple analytical solutions for the forward kinematics procedure of parallel mechanism, and the expression of these solutions is often complicated 13,14 . The numerical method is easy to calculate, but the iterative process of solution requires a large amount of calculation, and it is difficult to ensure the real‐time performance of master‐slave mapping under the premise of sufficient accuracy 15 .…”

Section: Introductionmentioning

confidence: 99%

“…However, there are often multiple analytical solutions for the forward kinematics procedure of parallel mechanism, and the expression of these solutions is often complicated. 13,14 The numerical method is easy to calculate, but the iterative process of solution requires a large amount of calculation, and it is difficult to ensure the real-time performance of master-slave mapping under the premise of sufficient accuracy. 15 Moreover, Backpropagation Neural Network (Back Propagation Neural Network (BPNN)) has been used to solve the forward kinematics of parallel mechanisms with both higher computational efficiency and precision.…”

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confidence: 99%

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Design and experiment of a 3‐DoF master device with a 2‐DoF parallel mechanism for flexible ureteroscopy

Zhao

Wang

et al. 2022

Robotics Computer Surgery

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Background: Traditional commercial master devices and specialied serial master devices meet insufficient workspace, low intuitiveness, low stiffness, and poor accuracy during master-slave mapping for robot-assisted flexible ureteroscopy (FURS).Methods: This paper presents a 3-DoF master device for FURS. A 2-DoF parallel mechanism was designed and utilised in the master device for higher stiffness based on requirements analysis. A Back Propagation Neural Network was built for the forward kinematics of the parallel mechanism during master-slave mapping. Analysis of mechanical characteristics was carried out for the usability of the master device. A contrast experiment on the phantom was conducted to evaluate the performance between the proposed master device and a previous one. Results:The completion time for each trial of the proposed master devices is shorter than that of the previous master serial device. Meanwhile, the proposed device provides a more comfortable operating style than the previous one. Conclusions:The proposed 3-DoF configuration for the master device is with more intuitive performance. A better comfort level indicates its usability in clinical applications. K E Y W O R D Sflexible ureteroscopy, master devices, medical robotics, parallel mechanism | INTRODUCTIONFlexible ureteroscopy (FURS), firstly carried out by V. F. Marshall in 1964, is an examination of the upper urinary tract with a flexible ureteroscope that is passed through the urethra, the bladder, and directly into the ureter, even into the renal pelvis. This procedure has been a routine for renal diseases. [1][2][3] With the development of robotic-assisted surgery, Robot-assisted FURS (RA-FURS) has emerged since 2008, when Desai et al restructured the Sensei robot, which is a system initially designed for vascular intervention, to perform FURS via animal experiments and clinical applications. 4,5 The first robotic system specially designed for FURS was designed by Saglam et al with better ergonomics. 6 A novel FURS robotic system with force feedback and intra-renal pressure detection has been developed by Shu et al. 7 In our previous research, a FURS robotic system with flexible passive adjustment has been proposed and its function has been validated through phantom and animal experiments. 8,9 Compared with manual FURS, RA-FURS improves the surgical effect by providing a more accurate location, more stable vision, and more comfortable operation. 10 All the above-mentioned robotic systems are with a master-slave configuration. The master device is the interface between the operation and the robotic system. An Omega-3 was used as the master device for the Sensei system. 4 Two Falcon manipulators were

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Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

Design and experiment of a 3‐DoF master device with a 2‐DoF parallel mechanism for flexible ureteroscopy

Zhao

Wang

et al. 2022

Robotics Computer Surgery

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Vibration Mode and Motion Trajectory Simulations of an Articulated Robot by a Dynamic Model Considering Joint Bearing Stiffness

Sato¹,

Ito²,

Mizuura³

et al. 2021

IJAT

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Articulated robots are widely used in industries because they can perform manufacturing tasks with complicated movements. Higher speed and accuracy of motions are always required to improve the quality and productivity of products. The vibration characteristics of the robots are an important factor to achieve higher speed and accuracy motions. Robots are increasingly being used for machining. The vibration characteristics must also be considered when designing proper cutting conditions for the machining. To design control and cutting strategies for higher speed and accuracy motions or higher productivity of the machining process, it is effective to investigate the vibration characteristics of the robot and develop a mathematical model which can represents the vibration characteristics. The aim of this study is to investigate the vibration characteristics of an architectural robot and develop a mathematical model which can represent the dynamic behavior of the robot. To achieve this, vibration mode of an industrial architectural robot is analyzed based on measured frequency characteristics. According to the results of the modal analysis, it was clarified that the axial and angular stiffness of bearings of each joint of the robot has a significant impact on the vibration characteristics. Therefore, in this study, a mathematical model of the robot is developed considering the joint bearing stiffness. The mathematical model that also considers the kinematics of the robot, stiffness of reduction gears, control system for motors, and disturbance, such as friction and gravity, is introduced into the model. The control system is precisely modeled based on actual control algorithm in accordance with the implemented source codes. Although mass and inertia of the links are obtained from the 3D-CAD model, stiffness and damping parameters of the bearings and reduction gears are identified by matching the measured and simulated frequency responses. It has been confirmed that the model can adequately represents the vibration mode of the actual robot. Circular motion tests were performed to verify the model. Motion trajectories of the end effector were measured and simulated. As a result, it has been confirmed that the developed model is effective to analyze the dynamic behaviors.

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Digital Tools Integration and Human Resources Development for Smart Factories

Sawada¹,

Nakabo²,

Furukawa³

et al. 2022

IJAT

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Promoting digital transformation (DX) and realizing smart factories have become critical for manufacturing companies to meet increasing demands such as short-term delivery, quality assurance, and environmental, social, and corporate governance (ESG) as well as to improve productivity and quality of work (QoW). To this end, digital tools should be provided for practical application in the preparation of the environments in which the companies can learn and study how to use digital technologies and tools by trial and error, while developing human resources for utilizing them for their own problem solving. In this paper, we describe the activities we used to develop various digital tools in the fields of manufacturing, robotics, and service engineering. We integrated these into a cyber physical system (CPS) developed for our model factory and offered a course for the company workers to learn these digital technologies. We also planned to develop our activities in collaboration with companies, universities, and other research institutes.

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Forward Kinematics Model for Evaluation of Machining Performance of Robot Type Machine Tool

Cited by 4 publications

References 22 publications

Design and experiment of a 3‐DoF master device with a 2‐DoF parallel mechanism for flexible ureteroscopy

Design and experiment of a 3‐DoF master device with a 2‐DoF parallel mechanism for flexible ureteroscopy

Vibration Mode and Motion Trajectory Simulations of an Articulated Robot by a Dynamic Model Considering Joint Bearing Stiffness

Digital Tools Integration and Human Resources Development for Smart Factories

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