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Robotics
Special Issues
Robotics and Parallel Kinematic Machines
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Robotics and Parallel Kinematic Machines

A special issue of Robotics (ISSN 2218-6581).

Deadline for manuscript submissions: 31 December 2024 | Viewed by 22867

Special Issue Editors

Dr. Swaminath Venkateswaran

E-Mail Website
Guest Editor
Leonardo de Vinci Engineering School (ESILV), De Vinci Research Center (DVRC), Courbevoie, France
Interests: parallel kinematic mechanisms; tensegrity; design optimization; bio-inspired locomotion; bio-mimetics
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Jong-Hyeon Park

E-Mail Website
Guest Editor
School of Mechanical Engineering, Hanyang University, Seoul, Republic of Korea
Interests: robotics; biped robots; teleoperation; micro robots; parallel-link manipulators; impedance control; automatic control; robust control; fuzzy logic control; adaptive control; vehicle dynamics & control; yaw-rate control; traction control; suspension control; precision motion control; servo control; adaptive friction compensation (semiconductor equipments); microsystems

Special Issue Information

Dear Colleagues, 

Robotics and parallel kinematic machines (PKM) have been in existence since the late 20th century. At present, most industries rely on these machines as automation has made complex tasks look much simpler. However, in the domain of robotics, there are still some concepts which are either unexplored or not studied in depth. Some examples include the cuspidal configurations wherein a robot can reach multiple inverse kinematic solutions without reaching singularities, and self-motion conditions in a PKM where the mobile platform can move when all actuators are locked. The objective of this issue is to identify such problems in robotics which are not studied in depth as they can be useful for potential industrial applications in the future. Topics of interest include (but are not limited to):

  • Cuspidal robots;
  • Self-motion;
  • Constraint singularities;
  • Parallel robots;
  • Tilt and torsion. 

Dr. Swaminath Venkateswaran
Prof. Dr. Jong-Hyeon Park
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Robotics is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

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Published Papers (6 papers)

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Research

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19 pages, 5696 KiB  
Article
Three-Degree-of-Freedom Cable-Driven Parallel Manipulator with Self-Sensing Nitinol Actuators
by Francesco Durante, Terenziano Raparelli and Pierluigi Beomonte Zobel
Robotics 2024, 13(6), 93; https://doi.org/10.3390/robotics13060093 - 20 Jun 2024
Cited by 1 | Viewed by 1133
Abstract
This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel manipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator’s architecture and mechanical design are elucidated, emphasizing the integration of Nitinol actuators. The self-sensing technique implemented in a previous work was [...] Read more.
This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel manipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator’s architecture and mechanical design are elucidated, emphasizing the integration of Nitinol actuators. The self-sensing technique implemented in a previous work was extended to a 20 mm actuator length, and the actuator was used to design the 3-DOF manipulator. Kinematic analyses were conducted to evaluate the manipulator’s performance under various operating conditions. A dynamic model was implemented for the dynamic dimensioning of the actuators, which work synergistically with a bias spring. The manipulator was realized, and a control strategy was implemented. Experimental tests, although documenting some positioning accuracy issues, show the efficacy and potential applications of the proposed manipulator in robotics and automation systems, highlighting the advantages of self-sensing Nitinol actuators in small parallel manipulator designs. Full article
(This article belongs to the Special Issue Robotics and Parallel Kinematic Machines)
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14 pages, 26990 KiB  
Article
Surgical Staplers in Laparoscopic Colectomy: A New Innovative Flexible Design Perspective
by Dhruva Khanzode, Ranjan Jha, Alexandra Thomieres, Emilie Duchalais and Damien Chablat
Robotics 2023, 12(6), 156; https://doi.org/10.3390/robotics12060156 - 21 Nov 2023
Cited by 1 | Viewed by 3778
Abstract
This article describes the development of a flexible surgical stapler mechanism, which serves as a fundamental tool for laparoscopic rectal cancer surgery, addressing the challenges posed by difficult types of accessibility using conventional instruments. The design of this mechanism involves the incorporation of [...] Read more.
This article describes the development of a flexible surgical stapler mechanism, which serves as a fundamental tool for laparoscopic rectal cancer surgery, addressing the challenges posed by difficult types of accessibility using conventional instruments. The design of this mechanism involves the incorporation of a stacked tensegrity structure, in which a flexible beam serves as the central spine. To assess the stapler’s range of operation, an analysis of the workspace was conducted by examining collaborative Computed Tomography (CT) scan data obtained from different perspectives (Axial, Coronal, and Sagittal planes) at various intervals. By synthesizing kinematic equations, Hooke’s law was employed, taking into account rotational springs and bending moments. This allowed for precise control of the mechanism’s movements during surgical procedures in the rectal region. Additionally, the study examined the singularities and simulations of the tensegrity mechanism, considering the influential eyelet friction parameter. Notably, the research revealed that this friction parameter can alter the mechanism’s curvature, underscoring the importance of accurate analysis. To establish a correlation between the virtual and physical models, a preliminary design was presented, facilitating the identification of the friction parameter. Full article
(This article belongs to the Special Issue Robotics and Parallel Kinematic Machines)
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34 pages, 1729 KiB  
Article
Neural Network Mapping of Industrial Robots’ Task Times for Real-Time Process Optimization
by Paolo Righettini, Roberto Strada and Filippo Cortinovis
Robotics 2023, 12(5), 143; https://doi.org/10.3390/robotics12050143 - 12 Oct 2023
Cited by 5 | Viewed by 2327
Abstract
The ability to predict the maximal performance of an industrial robot executing non-deterministic tasks can improve process productivity through time-based planning and scheduling strategies. These strategies require the configuration and the comparison of a large number of tasks in real time for making [...] Read more.
The ability to predict the maximal performance of an industrial robot executing non-deterministic tasks can improve process productivity through time-based planning and scheduling strategies. These strategies require the configuration and the comparison of a large number of tasks in real time for making a decision; therefore, an efficient task execution time estimation method is required. In this work, we propose the use of neural network models to approximate the task time function of a generic multi-DOF robot; the models are trained using data obtained from sophisticated motion planning algorithms that optimize the shape of the trajectory and the executed motion law, taking into account the kinematic and dynamic model of the robot. For scheduling purposes, we propose to evaluate only the neural network models, thus confining the online use of the motion planning software to the full definition of the actually scheduled task. The proposed neural network model presents a uniform interface and an implementation procedure that is easily adaptable to generic robots and tasks. The paper’s results show that the models are accurate and more efficient than the full planning pipeline, having evaluation times compatible with real-time process optimization. Full article
(This article belongs to the Special Issue Robotics and Parallel Kinematic Machines)
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19 pages, 16889 KiB  
Article
Mapping the Tilt and Torsion Angles for a 3-SPS-U Parallel Mechanism
by Swaminath Venkateswaran and Damien Chablat
Robotics 2023, 12(2), 50; https://doi.org/10.3390/robotics12020050 - 24 Mar 2023
Viewed by 2853
Abstract
This article presents the analysis of a parallel mechanism of type 3-SPS-U. The usual singularity approach is carried out with respect to the Euler angles of the universal joint. However, this approach is computationally expensive especially when stacked structures are analyzed. Thus, the [...] Read more.
This article presents the analysis of a parallel mechanism of type 3-SPS-U. The usual singularity approach is carried out with respect to the Euler angles of the universal joint. However, this approach is computationally expensive especially when stacked structures are analyzed. Thus, the positioning of the mobile platform for the mechanism is analyzed using the theory of Tilt and Torsion (T&T). The singularity-free workspace and the tilt limits of the mechanism are disclosed through this method. These workspaces can then be mapped to the Euler angles of the universal joint and the relation between the T&T space and the Euler space is demonstrated and validated in this study. Initially, simulations are performed using the results of singularity analysis to have a comparison between the T&T space and the Euler space. Experimental validation is then carried out on the prototype of the mechanism to perform a circular trajectory, in line with the simulations. The outcome of this study will be helpful for the integration of the mechanism for a piping inspection robot and also for the analysis of stacked architectures. Full article
(This article belongs to the Special Issue Robotics and Parallel Kinematic Machines)
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33 pages, 10546 KiB  
Article
A Reconfigurable Parallel Robot for On-Structure Machining of Large Structures
by Abdur Rosyid, Cesare Stefanini and Bashar El-Khasawneh
Robotics 2022, 11(5), 110; https://doi.org/10.3390/robotics11050110 - 14 Oct 2022
Cited by 3 | Viewed by 3353
Abstract
This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining of large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used to [...] Read more.
This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining of large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used to perform three-axis machining tasks. Three attachment pads connected to passive spherical joints are used to attach the robot to the surface of a large structure. Two or three rotational degrees of freedom can be added to the robot to adapt to a large structure’s irregular surface geometry and perform five- or six-axis machining tasks. This is achieved through modular reassembly or joint locking that reconfigures the robot from a three-DOF robot to a five- or six-DOF robot. A serial module providing two rotational DOFs can be added to the 3T parallel mechanism to provide five DOFs. A parallel module, namely 3SPR or 3SU mechanism, can be added to the 3T parallel mechanism to provide six DOFs. The mobility, pose kinematics, differential kinematics, singularities, and workspace of the 3SPR and 3SU parallel mechanisms alone and combined with the 3T mechanism are discussed in this paper. It is shown that the singularities of the mechanism can be easily avoided by making the moving platform of the 3SPR or 3SU mechanism smaller than the base, limiting the range of some joints, and having an appropriate length of the links. Furthermore, a method to optimize the workspace of the mechanism was also discussed. Full article
(This article belongs to the Special Issue Robotics and Parallel Kinematic Machines)
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Review

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39 pages, 2158 KiB  
Review
A Review of Parallel Robots: Rehabilitation, Assistance, and Humanoid Applications for Neck, Shoulder, Wrist, Hip, and Ankle Joints
by Victoria E. Abarca and Dante A. Elias
Robotics 2023, 12(5), 131; https://doi.org/10.3390/robotics12050131 - 20 Sep 2023
Cited by 9 | Viewed by 7840
Abstract
This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and [...] Read more.
This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom, specifically the neck, shoulder, wrist, hip, and ankle. A systematic search was conducted across multiple databases, including Scopus, Web of Science, PubMed, IEEE Xplore, ScienceDirect, the Directory of Open Access Journals, and the ASME Journal. This systematic review offers an updated overview of advancements in the field from 2012 to 2023. After applying exclusion criteria, 93 papers were selected for in-depth review. This cohort included 13 articles focusing on the neck joint, 19 on the shoulder joint, 22 on the wrist joint, 9 on the hip joint, and 30 on the ankle joint. The article discusses the timeline and advancements of parallel robots, covering technology readiness levels (TRLs), design, the number of degrees of freedom, kinematics structure, workspace assessment, functional capabilities, performance evaluation methods, and material selection for the development of parallel robotics. It also examines critical technological challenges and future prospects in rehabilitation, assistance, and humanoid robots. Full article
(This article belongs to the Special Issue Robotics and Parallel Kinematic Machines)
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