Design and analysis of an fMRI compatible haptic robot

Rajh, Matej; Glode, Srečko; Flašker, Joe; Gotlih, Karl; Kostanjevec, Toma

doi:10.1016/j.rcim.2010.06.007

Cited by 5 publications

(5 citation statements)

References 32 publications

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“…In addition, the generation of force and moment along a certain direction should be done easily in order to deliver a precise force to the operator. Therefore, it is necessary to ensure consistent manipulability characteristics within the workspace [21] and [28].…”

Section: Manipulabilitymentioning

confidence: 99%

“…Conversely, the velocity is most accurately controlled along the minor axis of the ellipsoid, where the transmission ratio is at a minimum. Velocity is the most accurately controlled in the direction where the manipulator can resist large disturbance forces, and force is most accurately controlled in the direction where the manipulator can quickly adapt its motion [16] to [18], [21], [23] to [25], [28] and [31].…”

Section: (8)mentioning

confidence: 99%

See 1 more Smart Citation

Manipulability of a Haptic Mechanism within the Cylindrical Space of an MR Scanner

Rajh¹,

Glodež

Flašker

et al. 2012

SV-JME

Self Cite

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The aim of this paper is to present developed 3 DOF haptic mechanism and 3D visualization method for analysis of mechanism manipulability problems within limited space. Improvement in mechanism manipulability within cylindrical space is crucial for devices, which operate in MR tunnel. This solution enables the plotting of quantitative 3D representation for each point in the mechanism's workspace, using selected resolution which can be determined in advance. The cross-section between the limited space and the whole arbitrary workspace shows the ability for movement execution.

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Section: Manipulabilitymentioning

confidence: 99%

Section: (8)mentioning

confidence: 99%

Manipulability of a Haptic Mechanism within the Cylindrical Space of an MR Scanner

Rajh¹,

Glodež

Flašker

et al. 2012

SV-JME

Self Cite

View full text Add to dashboard Cite

show abstract

“…However, no theoretical model was established. Rajh et al 26 presented a theoretical model focusing on the cable drive hysteretic backlash by means of piecewise function. But the model cannot depict the exact physical processes, which would limit the acceptance of these models.…”

Section: Introductionmentioning

confidence: 99%

Analytical and experimental research on transmission backlash in precise cable drive for an electro-optical targeting system

Xie

Zhang

et al. 2019

Advances in Mechanical Engineering

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Due to transmission backlash of precise cable drive in electro-optical targeting system, it is difficult to predict force and pointing precisely during target detection. This article aims to develop a rigorous model for predicting the cable tension and transmission backlash of precise cable drive in electro-optical targeting system to better evaluate the performance in the preliminary design stages. The model of transmission backlash in different phase is established by satisfying the system’s geometric and equilibrium constraints, which is applicable to cable drive systems with any external load, pretension, and motion trajectories. Simulations are conducted to reveal the changes of cable deformation, cable tension, and deflection angles. The model is validated by experiments using a suitable experimental setup, predicting transmission backlash with the error level of 8.27%. The sensitivities of the preload force and external load are tested, and corresponding results are in good agreement with the theoretical ones. The backlash plunges dramatically when the preload force is small and flattens out when the preload force is larger than the threshold value. A proper preload force should be applied to keep the backlash in stable state. The threshold value could be predicted by the proposed model. The method presented in this article could provide a theoretic guide for system design and nonlinearity compensation.

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“…The 3D assembly models record the design parameters and some information that can be used for concept-level and detailed-level design. Its benefits are usually recognized only by those who design precision machines [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Recognition of Kinematic Joints of 3D Assembly Models Based on Reciprocal Screw Theory

Xiong

Chen

Ding

et al. 2016

Mathematical Problems in Engineering

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Reciprocal screw theory is used to recognize the kinematic joints of assemblies restricted by arbitrary combinations of geometry constraints. Kinematic analysis is common for reaching a satisfactory design. If a machine is large and the incidence of redesign frequent is high, then it becomes imperative to have fast analysis-redesign-reanalysis cycles. This work addresses this problem by providing recognition technology for converting a 3D assembly model into a kinematic joint model, which is represented by a graph of parts with kinematic joints among them. The three basic components of the geometric constraints are described in terms of wrench, and it is thus easy to model each common assembly constraint. At the same time, several different types of kinematic joints in practice are presented in terms of twist. For the reciprocal product of a twist and wrench, which is equal to zero, the geometry constraints can be converted into the corresponding kinematic joints as a result. To eliminate completely the redundant components of different geometry constraints that act upon the same part, the specific operation of a matrix space is applied. This ability is useful in supporting the kinematic design of properly constrained assemblies in CAD systems.

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Design and analysis of an fMRI compatible haptic robot

Cited by 5 publications

References 32 publications

Manipulability of a Haptic Mechanism within the Cylindrical Space of an MR Scanner

Manipulability of a Haptic Mechanism within the Cylindrical Space of an MR Scanner

Analytical and experimental research on transmission backlash in precise cable drive for an electro-optical targeting system

Recognition of Kinematic Joints of 3D Assembly Models Based on Reciprocal Screw Theory

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