This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematicall...
Spherical parallel robots (SPR) are widely used in industries and robotic rehabilitation. Designing such systems for better balance properties is still a challenge. This paper presents a work to minimize the shaking moment for a fully force-balanced...
22 March 2021
The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control...
Hand dysfunction is a common symptom in stroke patients. This paper presents a robotic device which assists the rehabilitation process in order to reduce the need of physical therapy, i.e., a 3UPS/S parallel robotic device is employed for repetitive...
In this study, a novel design for a compact, lightweight, agile, omnidirectional three-legged robot involving legs with four degrees of freedom, utilizing an spherical parallel mechanism with an additional non-redundant central support joint for the...
A dynamic path-planning algorithm based on a general constrained optimization problem (GCOP) model and a sequential quadratic programming (SQP) method with sensor input is proposed in this paper. In an unknown underwater space, the turtle-inspired am...
This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point of the research is a virtual prototype of the ParReEx multibody mechanism. This model is used...
In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial–parallel topology including leg compliance is proposed. The proposal focusses deeply on the design as...
This article provides a detailed comparative analysis of five orientational, two degrees of freedom (DOF) mechanisms whose envisioned application is the wrist of the iCub humanoid robot. Firstly, the current iCub mk.2 wrist implementation is presente...
The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned to combining both mechanisms, sharing the advantage from serial to paral...
This paper presents a comparison between two different 6R articulated robot architectures, one with a spherical wrist and the other with a non-spherical wrist and three consecutive parallel axes, which are found mainly in collaborative arms. The perf...
This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand...
This study presents a comprehensive simulation-based comparative analysis of four parallel robotic mechanisms, each developed to assist patient recovery through adaptive movement control and feedback, particularly for upper and lower limb therapy. Ki...
In this work, the kinematics of a spherical parallel manipulator composed of three peripheral limbs equipped with linear actuators and a passive center shaft is approached by means of the theory of screws. The displacement analysis is carried out sol...
The ankle is a crucial joint that supports the human body weight. An ankle sprain will adversely affect the patient’s daily life, so it is of great significance to ensure its strength. To help patients with ankle dysfunction to carry out effect...
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 transla...
Continuum robots, possessing great flexibility, can accomplish tasks in complex work scenes, regarded as an important direction in robotics. However, the current continuum robots are not satisfying enough in terms of fabrication and maintenance, and...
Minimally invasive surgery (MIS) has transformed modern surgical operations by reducing pain, trauma, scarring and recovery time for the patient. However, precision, stability and accuracy continue to limit surgical performance. Robots can exhibit be...
Precision spherical joints are commonly employed as multiple degree-of-freedom (DOF) mechanical hinges in many engineering applications, e.g., robots and parallel manipulators. Real-time and precise measurement of the rotational angles of spherical j...
A spherical joint is a commonly used mechanical hinge with the advantages of compact structure and good flexibility, and it becomes a key component in many types of equipment, such as parallel mechanisms, industrial robots, and automobiles. Real-time...
Delta robot is a lightweight parallel manipulator capable of accurately moving heavy loads at high speed and acceleration along a spatial trajectory. This intensive dynamic process may have a significant impact on the end-effector trajectory precisio...
Due to the flexible and compact structures, spherical joints are widely used in parallel manipulators and industrial robots. Real-time detection of the clearance between the ball and the socket in spherical joints is beneficial to compensate motion e...
At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements...
Robot-assisted surgical systems have been widely applied for minimally invasive needle biopsies thanks to their excellent accuracy and superior stability compared to manual surgical operations, which lead to possible fatigue and misoperation due to l...
In this paper, an estimation algorithm for human interaction forces is presented, which can potentially be applied when a Parallel Kinematic Manipulator (PKM) is used on supervised physiotherapy exercises. The estimation algorithm is based on the dyn...
To facilitate the practical deployment and engineering implementation of multi-robot coordination for biomimetic underwater spherical robots (BUSRs), it is imperative to develop a formation tracking control method with a simple structure, a small num...
Human masticatory system exhibits optimal stiffness, energy efficiency and chewing forces needed for the food breakdown due to its unique musculoskeletal actuation redundancy. We have proposed a 6PUS-2HKP (6 prismatic-universal-spherical chains, 2 hi...
The 6-PUS (P: prismatic joint; U: universal joint; S: spherical joint) parallel mechanism study in this paper is the core mechanism used in the rehabilitation robot for children with cerebral palsy, which has a dynamic platform that acts on the pelvi...
This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R...
This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees...
To achieve high-quality vibration isolation and trajectory following control of a cable driven parallel robot based Stewart platform in the five hundred meter aperture spherical radio telescope (FAST) design, the integrated dynamic model of the Stewa...
To develop a wrist robotic exoskeleton-type interface (REI) for force interaction, it should have a suitable range of motion similar to human wrist activities of daily living, large torque output performance, and low moving parts inertia for dynamic...
Autonomous navigation in indoor environments demands reliable perception and control strategies for nonholonomic mobile robots operating under geometric constraints. While visual servoing offers a promising framework for such tasks, conventional appr...
The trajectory planning algorithm of underwater vehicle near-bottom cruise is important to scientific investigation, industrial inspection, and military affairs. An autonomous underwater vehicle (AUV) often faces the problems of complex underwater en...
Incorporation of parallel mechanisms inside propulsion systems in biomimetic autonomous underwater vehicles (BAUVs) is a novel approach for motion generation. The vehicle to which the studied propulsion system is implemented presents thunniform locom...
The dynamic performance of parallel robots directly determines the machining accuracy in large optical mirror processing (LOMP). However, limitations in traditional dynamic modeling methods hinder their application in real-time control, constraining...
Robotic end-effectors play an important role in automated pick-and-place operations, particularly where lightweight components with different geometries must be handled reliably. This study presents the design, fabrication, integration, and comparati...
Precision spherical joint is a spherical motion pair that can realize rotation with three degrees of freedom. This joint is widely used in robots, parallel mechanisms, and high-end medical equipment, as well as in aerospace and other fields. However,...
Wrist rehabilitation requires high precision, haptic transparency, and accurate alignment with the human joint’s physiological center of rotation. Conventional robotic systems often suffer from high moving inertia or joint misalignment. This pa...
This paper presents a detailed design of a skid-steering mobile platform with four wheels, along with a Cartesian serial (PPP) manipulator. The aim of this design is to enable the platform to perform various tasks in the agricultural process. The par...
Three parallel Visible/Infrared Imager Radiometer Suite (VIIRS) aerosol products (SOAR, NOAA, and AERDT) provided data since 2012. It is necessary to study the performances and advantages of different products. This study aims to analyze the accuracy...
The development of upper-limb prostheses is often hindered by limited dexterity, a restricted workspace, and bulky designs, primarily due to performance limitations in proximal joints like the shoulder and elbow, which contribute to high user abandon...