Kinematic effects of number of legs in 6-DOF UPS parallel mechanisms

Abedinnasab, Mohammad H.; Farahmand, Farzam; Tarvirdizadeh, Bahram; Zohoor, Hassan; Gallardo-Alvarado, Jaime

doi:10.1017/s0263574716000862

Cited by 13 publications

(3 citation statements)

References 47 publications

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“…1). The Robossis system is designed to meet the clinical > REPLACE THIS LINE WITH YOUR MANUSCRIPT ID NUMBER (DOUBLE-CLICK HERE TO EDIT) < requirements of femur fracture surgery, which includes 1) adequately applying the large traction forces/torques, 2) precisely aligning the fractured bone, and 3) manipulating the distal bone fragment during the surgical procedure (in our previous work we provide a clear description of the mechanical and clinical requirement of the RSR [39], [43]). Also, Fig.…”

Section: Robossis System Architecturementioning

confidence: 99%

Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery

Alruwaili¹,

Saeedi-Hosseiny²,

Clancy³

et al. 2022

J. Med. Robot. Res.

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This paper presents the experimental position and force testing of a 3-armed 6-DOF Parallel Robot, Robossis, that is specifically designed for the application of long-bone femur fracture surgery. Current surgical techniques require a significant amount of time and effort to restore the fractured femur fragments’ length, alignment and rotation. To address these issues, the Robossis system will facilitate the femur fracture surgical procedure and oppose the large traction forces/torques of the muscle groups surrounding the femur. As such, Robossis would subsequently improve patient outcomes by eliminating intraoperative injuries, reducing radiation exposure from X-rays during surgery and decreasing the likelihood of follow-up operations. Specifically, in this paper, we study the accuracy of the Robossis system while moving in the operational workspace under free and simulated traction loads of ([Formula: see text]–1100[Formula: see text]N). Experimental testing in this study demonstrates that Robossis can reach the most extreme points in the workspace, as defined by the theoretical workspace, while maintaining minimal deviation from those points with an average deviation of 0.324[Formula: see text]mm. Furthermore, the force testing experiment shows that Robossis can counteract loads that are clinically relevant to restoring the fractured femur fragments’ length, alignment and rotation. In addition, we study the accuracy of Robossis motion while coupled with the master controller Sigma 7. The results show that Robossis can follow the desired trajectory in real-time with an average error of less than 1[Formula: see text]mm. To conclude, these results further establish the ability of the Robossis system to facilitate the femur fracture surgical procedure and eliminate limitations faced with the current surgical techniques.

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Section: Robossis System Architecturementioning

confidence: 99%

Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery

Alruwaili¹,

Saeedi-Hosseiny²,

Clancy³

et al. 2022

J. Med. Robot. Res.

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“…This modification to the conventional Stewart mechanism improves its stiffness, static balance and reduces the overall cost of the manipulator (Furqan et al , 2017). By replacing the passive universal joints in the Stewart mechanism with active joints, the number of legs was reduced from 6 to 3 (Abedinnasab et al , 2017). This modification lightens the mechanism and lowers inertia effects.…”

Section: Introductionmentioning

confidence: 99%

Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3-PPSS parallel manipulator

Thomas

Sanjeev

Sudheer

et al. 2020

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Purpose This paper aims to use different machine learning (ML) algorithms for the prediction of inverse kinematic solutions in parallel manipulators (PMs) to overcome the computational difficulties and approximations involved with the analytical methods. The results obtained from the ML algorithms and the Denavit–Hartenberg (DH) approach are compared with the experimental results to evaluate their performances. The study is performed on a novel 6-degree of freedom (DoF) PM that offers precise motions with a large workspace for the end effector. Design/methodology/approach The kinematic model for the proposed 3-PPSS PM is obtained using the modified DH approach and its inverse kinematic solutions are determined using the Levenberg–Marquardt algorithm. Various prediction algorithms such as the multiple linear regression, multi-variate polynomial regression, support vector, decision tree, random forest regression and multi-layer perceptron networks are applied to predict the inverse kinematic solutions for the manipulator. The data set required to train the network is generated experimentally by recording the poses of the end effector for different instantaneous positions of the slider using the concept of ArUco markers. Findings This paper fully demonstrates the possibility to use artificial intelligence for the prediction of inverse kinematic solutions especially for complex geometries. Originality/value As the analytical models derived from the geometrical method, Screw theory or numerical techniques involve approximations and needs more computational power, it is not advisable for real-time control of the manipulator. In addition, the data set obtained from the derived inverse kinematic equations to train the network may lead to inaccuracies in the predicted results. This error may generate significant deviations in the end-effector position from the desired position. The present work attempts to resolve this issue by proposing a camera-based approach that uses ArUco library and ML algorithms to create the data set experimentally and predict the inverse kinematic solutions accurately.

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“…Los mo-delos cinemáticos obtenidos son validados mediante un ejemplo numérico. Abedinnasab et al (2017) usan la teoría de tornillos para obtener la matriz Jacobiana de un mecanismo paralelo UPS de seis grados de libertad (GDL) y realizar un análisis de singularidades. En (Gallardo-Alvarado et al (2022)), los autores realizan el análisis Jacobiano de un manipulador paralelo de 6 GDL con cuatro extremidades mediante la teoría de tornillos.…”

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Análisis cinemático de un robot paralelo 6-UPUR mediante teoría de tornillos

Cortés-Ruiz,

Arias-Montiel

2024

ICBI

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Este trabajo presenta el análisis cinemático de posición y de velocidad para un robot paralelo UPUR de seis grados de libertad. La cinemática de posición directa e inversa se obtiene a partir de las ecuaciones vectoriales de cerradura las cuales se resuelven usando métodos numéricos. Las ecuaciones que relacionan las velocidades de los actuadores con las velocidades de la plataforma móvil son obtenidas usando la teoría de tornillos, lo que permite omitir del análisis las velocidades de las juntas pasivas. La validez de las ecuaciones obtenidas se verifica mediante la comparación de los resultados numéricos con simulaciones del mecanismo realizadas en SolidWorks.

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Kinematic effects of number of legs in 6-DOF UPS parallel mechanisms

Cited by 13 publications

References 47 publications

Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery

Experimental Evaluation of a 3-Armed 6-DOF Parallel Robot for Femur Fracture Surgery

Comparative study of various machine learning algorithms and Denavit–Hartenberg approach for the inverse kinematic solutions in a 3-PPSS parallel manipulator

Análisis cinemático de un robot paralelo 6-UPUR mediante teoría de tornillos

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