A new planar 3-DOF parallel mechanism with continuous 360-degree rotational capability

Seo, TaeWon; In, Woosung; Kim, Jong-Won

doi:10.1007/s12206-009-0818-1

Cited by 17 publications

(3 citation statements)

References 14 publications

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“…They are connected via three legs that are made of PRP joints. Seo et al (2009) designed a new planar 3-DoF parallel mechanism with continuous 360 • rotational capability. This robot has two circle platforms, one fixed circular guide and one circular mobile platform, connected by three PPR legs.…”

Section: Deported Mechanismsmentioning

confidence: 99%

Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery

Phu

Essomba²,

Idram

et al. 2019

Mech. Sci.

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In severe fracture cases, a bone can be separated into two fragments and it is mandatory to reposition the bone fragments together. This type of surgery is called "bone reduction surgery". Originally, the operation consisted in manipulating the bones fragments by hand in open surgery. The most advanced technique relies on robotic manipulators providing higher precision and stability. A new mechanical architecture is proposed based on a 3-RPS tripod parallel mechanism combined with a Double Triangular Planar parallel mechanism. Its kinematic and velocity models are calculated and the parasitic motion generated by the tripod mechanism is considered in the final result. The workspace it can generate is compared to the Stewart manipulator, which is a classical mechanism for the targeted application. The use of a robotic manipulator is due to be part of an entire surgical procedure involving a pre-operative simulation software dedicated to pre-planning reduction surgery, namely PhysiGuide. It is used to measure the kinematic associated with bone fragments manipulation and transfer it to the robot during the intra-operative phase. Simulations are then performed based on a real patient's fracture images showing the suitability of the present mechanism with bone reduction surgery.S. Nguyen Phu et al.: A hybrid mechanism for bone reduction surgery

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Section: Deported Mechanismsmentioning

confidence: 99%

Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery

Phu

Essomba²,

Idram

et al. 2019

Mech. Sci.

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“…This illustrates the merit of the developed PM with the non-conventional architecture over the three-PPR PMs with the conventional one. [26][27][28] Finally, restricting the design parameters of the developed PM by the constraints given by (19) and (21) guarantees that the developed PM has high orientation capability with no singularities. Moreover, kinematically the developed PM is proved here to have high orientation capability with no singularities.…”

Section: Singularity Analysis and Orientation Capabilitymentioning

confidence: 99%

“…Moreover, another structure of the three-PPR planar PM with circular shape base platform was developed. 28 Although it has unlimited orientation capability, it has small circular workspace which makes it suitable for positioning applications rather than machine tools. On the other hand, in this paper, the proposed non-conventional structure of the three-PPR planar PM enables transferring the unavoidable singularity problem from the task space to the design parameter space.…”

Section: Introductionmentioning

confidence: 99%

A novel planar parallel manipulator with high orientation capability for a hybrid machine tool: kinematics, dimensional synthesis and performance evaluation

Assal

2015

Robotica

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SUMMARYIn order to potentially realize the advantages of planar parallel manipulators to be used for hybrid machine tools, the inherently abundant singularities which diminish the usable workspace must be eliminated. Proper structure synthesis and dimensional synthesis can provide a good solution. So, a non-conventional architecture of a three-PPR planar parallel manipulator is proposed in this paper for a hybrid machine tool. The proposed architecture permits a large dexterous workspace with unlimited orientation capability and no singularities. It also provides partially decoupled motion which permits independent actuators control. The kinematic, singularity, orientation capability and workspace analyses of the proposed manipulator are studied to verify those advantages. Based on a non-dimensional design parameter space, the highly important indices for this application namely the workspace index (WI), the motion/force transmission index, the kinematic and dynamic dexterity indices and the stiffness index are selected to be maximized yielding proper dimensions of the design parameters. Those performance indices are proven to be uniform over all the workspace achieving highly important characteristics of uniform accuracy, acceleration characteristics, rigidity and force transmissibility. Performance evaluation is finally presented to verify the high performance of the proposed non-singular planar parallel manipulator with high orientation capability.

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A dual step precision multi-DOF stage for maskless digital lithography

Ihn

Moon

et al. 2012

Microsyst Technol

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A new planar 3-DOF parallel mechanism with continuous 360-degree rotational capability

Cited by 17 publications

References 14 publications

Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery

Kinematic analysis and evaluation of a hybrid mechanism for computer assisted bone reduction surgery

A novel planar parallel manipulator with high orientation capability for a hybrid machine tool: kinematics, dimensional synthesis and performance evaluation

A dual step precision multi-DOF stage for maskless digital lithography

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