Kinematics analysis, workspace, design and control of 3-RPS and TRIGLIDE medical parallel robots

Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

[1]  Kenneth J. Waldron,et al.  The Workspaces of a Mechanical Manipulator , 1981 .

[2]  Marco Ceccarelli,et al.  Fundamentals of Mechanics of Robotic Manipulation , 2004, Mechanisms and Machine Science.

[3]  Jean-Pierre Merlet,et al.  Determination of the orientation workspace of parallel manipulators , 1995, J. Intell. Robotic Syst..

[4]  Tatsuo Arai,et al.  A prototype parallel manipulator: kinematics, construction, software, workspace results, and singularity analysis , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[5]  Marcia Kilchenman O'Malley,et al.  Design, Control and Performance of RiceWrist: A Force Feedback Wrist Exoskeleton for Rehabilitation and Training , 2008, Int. J. Robotics Res..

[6]  Ying-Chien Tsai,et al.  Accessible Region and Synthesis of Robot Arms , 1981 .

[7]  S. Agrawal.  Workspace boundaries of in-parallel manipulator systems , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[8]  Joseph K. Davidson,et al.  Rigid Body Location and Robot Workspaces: Some Alternative Manipulator Forms , 1987 .

[9]  K. C. Gupta,et al.  On the Nature of Robot Workspace , 1986 .

[10]  Marco Ceccarelli,et al.  A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary , 1995 .

[11]  S.-D. Stan,et al.  Evolutionary approach to optimal design of 3 DOF translation exoskeleton and medical parallel robots , 2008, 2008 Conference on Human System Interactions.

[12]  Carlo Ferraresi,et al.  Workspace and dexterity evaluation of 6 d.o.f. spatial mechanisms , 1995 .

[13]  Clément Gosselin,et al.  Singularity analysis of closed-loop kinematic chains , 1990, IEEE Trans. Robotics Autom..

[14]  K. C. Gupta,et al.  Design Considerations for Manipulator Workspace , 1982 .

[15]  S.-D. Stan,et al.  Kinematics analysis, design, and control of an Isoglide3 Parallel Robot (IG3PR) , 2008, 2008 34th Annual Conference of IEEE Industrial Electronics.

[16]  Joseph Duffy,et al.  Special configurations of spatial mechanisms and robot arms , 1982 .