Design of a 3 DOFs parallel actuated mechanism for a biped hip joint

Sellaouti, R.; Konno, Atsushi; Ouezdou, Fethi Ben

doi:10.1109/robot.2002.1014700

Cited by 13 publications

(6 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The goal of the inverse kinematic solution is finding the positions of the motors when the pose (position and orientation) of the moving platform is given [7].…”

Section: A Inverse Kinematic Solutionmentioning

confidence: 99%

See 1 more Smart Citation

A 6-DOF Parallel Robot for Optical Precise Operation

Rong

Sun

et al. 2006

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

View full text Add to dashboard Cite

In this paper, a novel 6-DOF precise parallel robot with architecture of HTRT is presented. The robot, driven by a AC servo motor, consists of a moving platform, a base platform and six identical chains connecting the two platforms. A Hooke joint, which is composed of a cross centre axle and four specific ball bearings without inner circle pivot, is used to rectify the structural backlash. Control system of the robot is introduced. Also control strategy of precise positioning is proposed in the control system. Inverse kinematic solution, Jacobin matrix, workspace, and Dexterity of the end-effector are discussed. The experiments of fiber alignment and optical assembly validate the feasibility of the parallel robot in precise operating fields.

show abstract

“…The goal of the inverse kinematic solution is finding the positions of the motors when the pose (position and orientation) of the moving platform is given [7].…”

Section: A Inverse Kinematic Solutionmentioning

confidence: 99%

“…6 and Fig. 7 give the distributing states of w. In the mechanism, performance index is max 1.80 σ = , 52.32 cond = , and 7 1.07 10 w = × , respectively. The results show that the enlargement factor of error is small, isotropy is better, and the mechanism keeps away from the singularity point.…”

Section: ) Operation Performance W Is Defined Asmentioning

confidence: 99%

A 6-DOF Parallel Robot for Optical Precise Operation

Rong

Sun

et al. 2006

IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

View full text Add to dashboard Cite

show abstract

“…And there are two precise linear guide rails in both sides of each ball screw, which are acted as a guide of the linear motion of the nut. The goal of the inverse kinematic solution is finding the positions of the motors when the pose (position and orientation) of the moving platform is given [9].…”

Section: -Dof Parallel Robot and Error Analysis A Mechanism Arcmentioning

confidence: 99%

Error Compensation for a Parallel Robot Using Back Propagation Neural Networks

Rong

Sun

et al. 2006

2006 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

This paper presents an error compensation method for a novel 6-DOF parallel robot using back propagation neural networks. The main error sources of the parallel robot are discussed. In order to improve the measuring accuracy, a specific target measured by a coordinate measuring machine is designed. The relationship of error map is established by the coordinate transformation. Experimental results showed that the pose accuracy of the parallel robot was improved by more than 60% after error compensation. A precise optical assembly was accomplished by the parallel robot after error compensation reliably and rapidly.Index Termserror compensation, parallel robot, back propagation neural networks, pose accuracy.

show abstract

“…Due to the existence of the spherical joints, its stability would become poor when loaded. Sellaouti et al [8] designed a bipedal walking robot with a 3-DOF parallel mechanism, which was a planar mechanism. The stability of the robot worsens during walking.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Analysis and Performance Verification of a Novel Hip Prosthetic Mechanism

Guo

Wang

et al. 2020

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

To assist an amputee in regaining his or her daily quality of life, based on analysis of the motion characteristics of the human hip, a 2-UPR/URR parallel mechanism with a passive limb was designed. The inverse kinematics of this mechanism was analyzed based on a closed-loop vector method. The constrained Jacobian matrix and kinematic Jacobian matrix of each limb were then analyzed, and a 6 × 6 fully Jacobian matrix was constructed. Based on this, kinematic performances were analyzed and summarized. Finally, the dynamic model of the mechanism was constructed based on the virtual work principle, and its theoretical solution was compared with the numerical results, which were obtained in a simulation environment. Results showed that the prosthetic mechanism had a larger rotating workspace and better mechanical performance, which accorded a range of motion and bearing capacity similar to that of the human hip in multiple gait modes. Moreover, the validity of the dynamic model and inverse kinematics were verified by comparing the theoretical and simulation results. Furthermore, with flexion and extension, the torque change in the hip prosthetic mechanism was similar to that of the human hip, which demonstrated the feasibility of the hip prosthetic mechanism and its good dynamic performance.

show abstract

Design of a 3 DOFs parallel actuated mechanism for a biped hip joint

Cited by 13 publications

References 11 publications

A 6-DOF Parallel Robot for Optical Precise Operation

A 6-DOF Parallel Robot for Optical Precise Operation

Error Compensation for a Parallel Robot Using Back Propagation Neural Networks

Dynamic Analysis and Performance Verification of a Novel Hip Prosthetic Mechanism

Contact Info

Product

Resources

About