Workspace characterization and kinematic analysis of general spherical parallel manipulators revisited via graphical based approaches

Arrouk, Khaled; Bouzgarrou, Belhassen-Chedli; Gogu, G.

doi:10.1016/j.mechmachtheory.2017.11.019

Cited by 11 publications

(6 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The approach has been extended to the workspace characterization and kinematic analysis of general spherical PMs. 22 By integrating the concept of virtual chains (VC) and CAD software, Johnson et al 23 proposed a graphic approach for determining the workspace of PMs. In this approach, as the 3D model of a PM is built by CAD software with VC to represent the motion capability of its moving platform, the link interferences and certain transmission indices can be easily taken into consideration to determine the workspace of the PM.…”

Section: Introductionmentioning

confidence: 99%

An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology

Liu

Zhang

et al. 2021

Advances in Mechanical Engineering

View full text Add to dashboard Cite

By integrating screw theory with computer-aided design (CAD) technology, this paper presents an effective and automated methodology for mobility and force/motion transmissibility analysis of parallel mechanisms (PMs). In this approach, A kinematic diagram of a PM termed as the conceptual model, which consists of a solid assembly and several skeleton elements in the form of datum entities and non-geometric entities such as parameters, equations and semantic information, is built by using the 3D modeling capabilities of SolidWorks. For each limb of the PM, a rule-based reasoning (RBR) system is developed based upon the dual and reciprocal properties of screw systems, allowing its own twist/wrench subspaces to be determined automatically by using the joint axis features extracted from the conceptual model. These considerations lead to an automated procedure that can be used to generate the general Jacobian of PMs, allowing the mobility and force/motion transmissibility analysis to be carried out automatically, a work that had to be done manually in the past. Based on the proposed approach, a software package is developed and examples are given to verify its effectiveness.

show abstract

Section: Introductionmentioning

confidence: 99%

An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology

Liu

Zhang

et al. 2021

Advances in Mechanical Engineering

View full text Add to dashboard Cite

show abstract

“…Furthermore, spherical parallel mechanisms (SPMs) have attracted the attention of many researchers over the last two decades because they have higher stiffness, precision, and load carrying capacity than serial spherical mechanisms. Typical SPMs are the 3-RRR type manipulators, where R stands for the revolute joint [7]- [11]. However, the torsion motion achieved using general symmetrical SPMs is limited.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Test of a Novel 2-DOF Spherical Motion Mechanism

Bian

Wang

2020

IEEE Access

View full text Add to dashboard Cite

A novel two degree-of-freedom (DOF) ball-joint-like hydraulic spherical motion mechanism (SMM) for use in robotic applications is proposed to achieve smooth spherical motion in all directions. Unlike traditional systems that use serial or parallel mechanisms for generating multi-DOF rotations, the proposed SMM is capable of producing continuous 2-DOF rotational motions in a single joint without intermediate transmission mechanisms. The proposed SMM has a compact structure, low inertia, and high stiffness. First, the architecture and operating principle of the proposed SMM is introduced. Then, the kinematic model is established using Euler transformation, following which factors (such as workspace and dexterity) that have an impact on motion performance are evaluated. As the foundation of dynamics analysis and controller design, the Lagrange's equations of the second kind are used to establish the dynamic model. To achieve high tracking accuracy, the radial basis function neural network-based sliding mode controller is applied to the mechanism. The simulation results indicate that the designed controller not only improves trajectory tracking capability but also enhances robustness against external disturbance and system uncertainty. Finally, experiments are performed on a prototype SMM to validate the performance of the proposed SMM and evaluate the control method. INDEX TERMS Spherical motion mechanism, kinematic modeling, motion performance, dynamic modeling, radial basis function neural network-based sliding mode control.

show abstract

“…Although they are not utilized specifically for medical usage, recent literature also includes studies regarding spherical manipulators. Arrouk et al reviewed the main issues in kinematic analysis of spherical parallel manipulators in terms of workspace characterization. In their work, authors introduced methodologies to determine workspace of the moving platform and problem resolution of forward kinematics.…”

Section: Introductionmentioning

confidence: 99%

Structural design of a positioning spherical parallel manipulator to be utilized in brain biopsy

Gezgin

Özbek

Güzin

et al. 2019

Robotics Computer Surgery

View full text Add to dashboard Cite

Background During the last decades, there has been a great increase in the usage of robotic systems during surgeries in order to reach increased operational precision, reduced operation times, enhanced recovery periods, low infection risks, and limited scar formations for aesthetic reasons. In light of this, the current study focuses on the field of robotic surgery by introducing the kinematic structure of the precise robotic positioning manipulator for brain biopsy. Methodology Throughout the study, two degrees of freedom spherical parallel robot manipulator was proposed in order to position brain biopsy needle precisely during the brain biopsy operation on the target workspace. Results Direct and inverse kinematics of the manipulator were carried out parametrically by using quaternion algebra. The prototype of the manipulator was manufactured by rapid prototyping for hardware verification. Conclusions Hardware verification of the manufactured prototype was completed distinctly by using motion capture cameras and manufactured mock‐up setup that mimics tumour locations inside the brain. Successful verification results in terms of precision were achieved.

show abstract

Workspace characterization and kinematic analysis of general spherical parallel manipulators revisited via graphical based approaches

Cited by 11 publications

References 9 publications

An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology

An approach for mobility and force/motion transmissibility analysis of parallel mechanisms based on screw theory and CAD technology

Design, Analysis, and Test of a Novel 2-DOF Spherical Motion Mechanism

Structural design of a positioning spherical parallel manipulator to be utilized in brain biopsy

Contact Info

Product

Resources

About