Real time evaluation of inverse kinematics for a 3-RPS medical parallel robot usind dSpace platform

Rad, Ciprian-Radu; Manic, Milos; Bălan, Radu; Stan, Sergiu-Dan

doi:10.1109/hsi.2010.5514590

Cited by 6 publications

(2 citation statements)

References 16 publications

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“…The position of the force plate can be found by substituting Equation (10) into Equation (6) while the orientation of the moving platform can be determined with the following expression [26]:…”

Section: Forward Kinematics Of the 3-rps Parallel Manipulatormentioning

confidence: 99%

System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing

Vrhovski¹,

Obrovac²,

Nižetić³

et al. 2019

Applied Sciences

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Leg Length Discrepancy (LLD) causes a shift of the Center of Mass (CoM) of the human body, as well as an asymmetry in load distribution on the lower extremities. Existing LLD evaluation methods do not take into account this shift in the human body’s CoM. In this paper, a methodology and mechatronic system for the Evaluation and Compensation of LLD for Human Body Balancing are described. The human body’s CoM is measured with two force plates located on two parallel manipulators. Since persons with LLD experience a shift in their CoM, by raising the force plate that is under the shorter leg, the human body can be balanced. For this purpose, the Human Body Balancing Algorithm (HBBA) was proposed and developed. By running the HBBA, the height difference between the force plates under the left and right leg can be measured, which then represents the LLD evaluation. Based on this evaluation, it is possible to design and make a shoe insole which compensates the influence of LLD with the goal of equalizing the load on the legs. A virtual mathematical model of the system was created and the simulation results of the HBBA are presented. The mechatronic system, developed and used to conduct experiments and measurements, is described in detail.

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Section: Forward Kinematics Of the 3-rps Parallel Manipulatormentioning

confidence: 99%

System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing

Vrhovski¹,

Obrovac²,

Nižetić³

et al. 2019

Applied Sciences

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“…The 3-RPS parallel robots, proposed by other authors, have the actuators oriented to the center. 18 –23 However, there is a similar robot proposed by Li et al, 24 which consists of a base and a moving platform connected by two identical revolute–prismatic–universal limbs and one spherical–prismatic–revolute limb.…”

Section: System Descriptionmentioning

confidence: 99%

Dynamic analysis and control of a three-revolute–prismatic–spherical parallel robot by algebraic parameters identification

Ruiz-Hidalgo

Ortega

Pliego

et al. 2019

International Journal of Advanced Robotic Systems

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The inverse dynamic model of a three-revolute-prismatic-spherical parallel robot based on Lagrange method is presented. This parallel robot presents a different configuration in the orientation of the actuators of the already reported in the literature. The dynamic model is validated by simulations obtained with a virtual prototype under MSC Automatic Dynamic Analysis of Mechanical Systems environment. For positioning the moving platform in a desired orientation, a proportional-integral-derivative-type controller is implemented for trajectory tracking using the dynamic of the actuators. In this dynamic, the load supported is unknown, that is, due to the inclination of the moving platform, the weight is not evenly distributed. Algebraic identification of parameters is implemented in order to know the load and improve the response in the orientation of the moving platform. Some simulations were performed with the virtual prototype in cosimulation environment under MSC Automatic Dynamic Analysis of Mechanical Systems/View and MATLAB/Simulink to verify the performance of the proportional-integral-derivative controller using the algebraic parameters identification.

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Hyper-Jerk Analysis of Robot Manipulators

Gallardo-Alvarado

2013

J Intell Robot Syst

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Real time evaluation of inverse kinematics for a 3-RPS medical parallel robot usind dSpace platform

Cited by 6 publications

References 16 publications

System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing

System for Evaluation and Compensation of Leg Length Discrepancy for Human Body Balancing

Dynamic analysis and control of a three-revolute–prismatic–spherical parallel robot by algebraic parameters identification

Hyper-Jerk Analysis of Robot Manipulators

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