Workspace Analysis of a 4 Cable-Driven Spatial Parallel Robot

Kumar, Atal Anil; Antoine, Jean-François; Zattarin, Patrick; Abba, Gabriel

doi:10.1007/978-3-319-78963-7_27

Cited by 8 publications

(6 citation statements)

References 14 publications

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“…Start and end configurations are selected near the UACDPR static workspace edges [33], in order to stress the importance of careful trajectory planning so as to avoid potentially dangerous situations, such as cable loss of tension due to platform large oscillatory motions. is expressed by x y z Tait-Bryan angles, since no representation singularities are expected throughout the manipulator static workspace: 6) and can be computed by the method described in Sections III and IV.…”

Section: Application Examplementioning

confidence: 99%

Natural Oscillations of Underactuated Cable-Driven Parallel Robots

2021

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Underactuated Cable-Driven Parallel Robots (CDPR) employ a number of cables smaller than the degrees of freedom (DoFs) of the end-effector (EE) that they control. As a consequence, the EE is underconstrained and preserves some freedoms even when all actuators are locked, which may lead to undesirable oscillations. This paper proposes a methodology for the computation of the EE natural oscillation frequencies, whose knowledge has proven to be convenient for control purposes. This procedure, based on the linearization of the system internal dynamics about equilibrium configurations, can be applied to a generic robot suspended by any number of cables comprised between 2 and 5. The kinematics, dynamics, stability and stiffness of the robot free motion are investigated in detail. The validity of the proposed method is demonstrated by experiments on 6-DoF prototypes actuated by 2, 3, and 4 cables. Additionally, in order to highlight the interest in a robotic context, this modelling strategy is applied to the trajectory planning of a 6-DoF 4-cable CDPR by means of a frequency-based method (multi-mode input shaping), and the latter is experimentally compared with traditional non-frequency-based motion planners.

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Section: Application Examplementioning

confidence: 99%

Natural Oscillations of Underactuated Cable-Driven Parallel Robots

2021

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“…Through mechanical positioning, electromagnetic positioning, ultrasonic positioning, cellular image navigation 102 and other technologies, the work space analysis and the path planning of surgical instrument arm are carried out. 103 It is of great significance for improving the efficiency and safety of surgery to establish the research work of the workspace analysis and path planning of the surgical instrument arm.…”

Section: Intelligentmentioning

confidence: 99%

Research progress and development trend of surgical robot and surgical instrument arm

Zhang

Haiyuan

Cui

et al. 2021

Robotics Computer Surgery

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Background: In recent years, surgical robots have become an indispensable part of the medical field. Surgical robots are increasingly being used in the areas of gynaecological surgery, urological surgery, orthopaedic surgery, general surgery and so forth. In this paper, the development of surgical robots in different operations is reviewed and analysed. In the type of master-slave surgical robotic system, the robotic surgical instrument arms were located in the execution terminal of a surgical robot system, as one of the core components, and directly contact with the patient during the operation, which plays an important role in the efficiency and safety of the operation. In clinical, the arm function and design in different systems varies.Furtherly, the current research progress of robotic surgical instrument arms used in different operations is analysed and summarised. Finally, the challenge and trend are concluded.Methods: According to the classification of surgical types, the development of surgical robots for laparoscopic surgery, neurosurgery, orthopaedics and microsurgery are analysed and summarised. Then, focusing on the research of robotic surgical instrument arms, according to structure type, the research and application of straight-rod surgical instrument arm, joint surgical instrument arm and continuous surgical instrument arm are analysed respectively.Results: According to the discussion and summary of the characteristics of the existing surgical robots and instrument arms, it is concluded that they still have a lot of room for development in the future. Therefore, the development trends of the surgical robot and instrument arm are discussed and analysed in the five aspects of structural materials, modularisation, telemedicine, intelligence and human-machine collaboration. Conclusion:Surgical robots have shown the development trend of miniaturisation, intelligence, autonomy and dexterity. Thereby, in the field of science and technology, the research on the next generation of minimally invasive surgical robots will usher in a peak period of development.

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Section: Introductionmentioning

confidence: 99%

“…To the knowledge of the authors, only two works attempted to propose a methodology for the computation of the workspace of UACDPRs, focusing on the computation of the reachable and statically-feasible (often referred to as static) workspace (RSW ) of a 4-cable system [32] and of a 3-cable system [22]. In [32], the authors discretized the translational task space and looked for any EE orientation satisfying static equilibrium for a prescribed position by solving an inverse geometrico-static problem (GSP); if an orientation was found, and the cable tensions were within bounds, the EE position was included in the RSW . In the authors' opinion, this algorithm is limited by two main factors: (i) not all the geometrico-statically feasible poses of the EE of a UACDPR are stable [2,10] and thus reachable; (ii) no particular orientation is found by the algorithm, as long as it is feasible: this hinders the practical use of said algorithm, where some theoretically feasible orientations are practically non-attainable [33], due to lack of continuity between adjacent poses or cable becoming slack due to feedback errors.…”

Section: Introductionmentioning

confidence: 99%