Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Abstract

SUMMARYThis paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery

“…Therefore, a parallel chain is linked to the serial chain through the universal joint to ensure the force control for the two tilt motions. Here, a 3-RRR planar parallel mechanism with 2 DoFs is selected as a parallel structure for the following reasons: reducing the required actuator torques, having a singular-free workspace, and having the most compact workspace after optimization (Saafi and Lamine, 2020). The self-rotation is decoupled from the parallel part because it requires a wide range of motion.…”

Mathematical Modeling and Kinematic analysis of 3-RRR Planar Parallel Manipulator

“…It is a measure of the kinematic performance of the robot [27] This index is a widely accepted term to measure the kinematic manipulability the Manipulability index is defined as the square root of the determinate of the product of the Jacobean matrix and its transpose by using singular value decomposition theorem we solve this index also ranges from 0 to 1, the higher value of indices means better performance of Manipulator and vice versa. The Yoshikawa manipulability indices have the limitations like scale dependency means based on link length, the manipulability indices will change it is an unbounded index it serves the relative measure of the degree of condition, it depends on the order of Eigenvalues to overcome limitations some authors are proposed different indices like relative manipulability index and normalized manipulability index and global manipulability index.…”

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with kinematic redundancy

“…For parallel mechanism with kinematic redundancy, the mobility of the parallel mechanism is equal to the number of actuators but greater than the degree of freedom of the moving platform. Except the earlier studies [9,10,11], many researchers play great attentions on parallel mechanism with kinematic redundancy in recent years.…”