Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot

Kumar, Shivesh; Nayak, Abhilash; Peters, Heiner; Schulz, Christopher; Müller, Andreas; Kirchner, Frank

doi:10.1007/978-3-319-93188-3_49

Cited by 17 publications

(7 citation statements)

References 6 publications

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“…Kumar introduced a new type of 2SPRR+1U parallel mechanism. The branch chain composed of the spherical pair, the rotating joint and the universal hinge has a certain working space and flexibility, and its kinematics analysis has been carried out [20].Shahid discussed robotic equipment for treadmill and ground training and platform-based parallel ankle robots [21]. Liu proposed a four-degree-of-freedom generalized spherical parallel mechanism, and analyzed whether the kinematics of the mechanism meets the needs of ankle joint rehabilitation [22].Zhi proposed a 3-PSP parallel mechanism, and established a mathematical model of the parallel part of the robot based on the screw theory.…”

Section: Related Workmentioning

confidence: 99%

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Hu¹,

Yin²,

He³

et al. 2022

Preprint

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In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

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Section: Related Workmentioning

confidence: 99%

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Hu¹,

Yin²,

He³

et al. 2022

Preprint

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“…The mechanism can be assembled with double parallelogram to become a remote center of motion in order to facilitate tool mounting away from the actuators. This class of mechanisms have been used for medical applications [12] as well as in implementing joint modules in humanoids (see [24,64] for application as ankle joint and [62,65] for application as torso joint). This mechanism has three legs: the two first legs have 6 lower pair joints and include actuators.…”

Section: Dof Rcm Mechanismmentioning

confidence: 99%

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

Durgesh¹,

Michel²,

Kumar³

et al. 2022

Preprint

Self Cite

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The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the singularities and self-collisions lead to a complicated relation between the input and output parameters. In this article, a novel optimization methodology is proposed by combining a local search, Nelder-Mead algorithm, with global search methodologies such as low discrepancy distribution for faster and more efficient exploration of the optimization space. The effect of the dimension of the optimization problem and the different constraints are discussed to highlight the complexities of closed-loop kinematic chain optimization. The work also presents the approaches used to consider constraints for passive joint boundaries as well as singularities to avoid internal collisions in such mechanisms. The proposed algorithm can also optimize the length of the prismatic actuators and the constraints can be added in modular fashion, allowing to understand the impact of given criteria on the final result. The application of the presented approach is used to optimize two PKMs of different degrees of freedom.

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“…In order to give the surgeon more mobility, it is necessary to have the largest working space without singularity. By adding an offset in the classical design, we are able to increase this workspace but the properties of the robot change [13]. In [13] the parameter h is added between the universal joint and the mobile platform but the offset on the both legs are removed.…”

Section: Robotics For Otologic Surgerymentioning

confidence: 99%

Workspace analysis in the design parameter space of a 2-DOF spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery

Chablat

Michel

Bordure

et al. 2021

Mechanism and Machine Theory

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During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space. This mechanism is composed of three legs (2USP-U) to connect the base to a moving platform connected to a double parallelogram to create a remote center of motion (RCM). Its kinematic properties, i.e. the singularity locus and the number of direct kinematic solutions, are investigated. For some design parameters, non-singular assembly modes changing trajectories may exist and have to be investigated inside the prescribed regular workspace shape. Two sets of design parameters are presented with their advantages and disadvantages.

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Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot

Cited by 17 publications

References 6 publications

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

Research on 4-UPUS Parallel Mechanism Ankle Joint Rehabilitation Training Robot

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

Workspace analysis in the design parameter space of a 2-DOF spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery

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