The lower-mobility parallel mechanism (PM) has fewer than six degrees of freedom (DoFs) and requires fewer links, joints and actuators than its 6-DoF counterpart. Hence, the use of the lower-mobility PM may save much cost in those applications requiring less mobility. In this paper, the type synthesis of symmetrical lower-mobility PMs is performed systematically using the constraint-synthesis method. First, some important theoretical fundamentals of type synthesis of lower-mobility PMs are investigated, including a classification of symmetry of lower-mobility PMs, the identification of instantaneous mechanisms and input selection method. Moreover, the difficult problem of how to correctly apply the general Grubler-Kutzbach criterion to lower-mobility PMs is solved. A mobility analysis of PMs with a closed loop in the limbs is also presented to demonstrate the validity. The type synthesis of 5-DoF and 4-DoF PMs is then dealt with in detail. Enumerations of novel 5-DoF and 4-DoF PMs are presented. The chara...

Type Synthesis of Symmetrical Lower-Mobility Parallel Mechanisms Using the Constraint-Synthesis Method:

Performance evaluation of parallel manipulators: Motion/force transmissibility and its index

The collaborative effort between fundamental science, engineering and medicine provides physicians with improved tools and techniques for delivering effective health care. Minimally invasive surgery (MIS) techniques have revolutionized the way a number of surgical procedures are performed. Recent advances in surgical robotics are once again revolutionizing MIS interventions and open surgery. In an earlier research endeavor, 30 surgeons performed 7 different MIS tasks using the Blue Dragon system to collect measurements of position, force, and torque on a porcine model. This data served as the foundation for a kinematic optimization of a spherical surgical robotic manipulator. Following the optimization, a seven-degree-of-freedom cable-actuated surgical manipulator was designed and integrated, providing all degrees of freedom present in manual MIS as well as wrist joints located at the surgical end-effector. The RAVEN surgical robot system has the ability to teleoperate utilizing a single bi-directional UDP socket via a remote master device. Preliminary telesurgery experiments were conducted using the RAVEN. The experiments illustrated the systemâs ability to operate in extreme conditions using a variety of network settings.

/pdf/the-raven-design-and-validation-of-a-telesurgery-system-3j2ygn7mx6.pdf

The RAVEN: Design and Validation of a Telesurgery System

http://www-percro.sssup.it/~antony/papers/mech_mach_th_2003.pdf

Dynamics of parallel manipulators by means of screw theory

A method is proposed for the type synthesis of 3-DOF (degree-of-freedom) translational parallel manipulators (TPMs) based on screw theory. The wrench systems of a translational parallel kinematic chain (TPKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of TPMs. The type synthesis of legs for TPKCs, the type synthesis of TPKCs as well as the selection of actuated joints of TPMs are dealt with in sequence. An approach to derive the full-cycle mobility conditions for legs for TPKCs is proposed based on screw theory and the displacement analysis of serial kinematic chains undergoing small joint motions. In addition to the TPKCs proposed in the literature, TPKCs with inactive joints are synthesized. The phenomenon of dependent joint groups in a TPKC is revealed systematically. The validity condition of actuated joints of TPMs is also proposed. Finally, linear TPMs, which are TPMs whose forward displacement analysis can be performed by solving a set of linear equations, are also revealed.

Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Screw Theory

This paper analyzes the design of a force‐based impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closed‐loop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.

http://percro1.sssup.it/~antony/papers/SensorReview2004.pdf

Force‐based impedance control of a haptic master system for teleoperation

This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm that adopts the screw theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach.

Gravity compensation algorithms for parallel haptic interface

This work presents a novel user interface for navigation in virtual environments and remote control of devices. The proposed system is head-mounted, allowing for the control of up to six degrees of freedom while leaving the user with free hands. The device is composed of six linear accelerometers arranged on a couple of glasses and a specific embedded controller that allows for the measuring of glass acceleration information. This is then translated in motion control information for navigation in virtual environments and/or as other devices input. The specific algorithms to integrate the motion acceleration cues sensed from the glasses while filtering the drifting errors and effect related to head rotations are presented herein.

A navigation interface based on head tracking by accelerometers

This paper presents the theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system. The teleoperation system is a master-slave bilateral system based on two parallel kinematics robots with three degree of freedom, which has been devised for the validation of robotics assisted surgery procedures. Both master and slave systems present an isomorphic kinematics which allow only translational motion of the end-effector. The aim of the present work is to evaluate two different implementations of a Force Reflection control architectures: a Position Error Based Force Reflection Control and a Direct Force Reflection Control. The two architectures are compared in terms of performance, i.e. stability and transparency, on the basis of both simulations and experimental data. Some novel theoretical results are presented, which permit a direct evaluation of performance for both the two architectures.

Theoretical and experimental evaluation of a 2-Channel bilateral Force Reflection teleoperation system

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