Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism
Sign Up to like & getrecommendations! Published in 2017 at "Multibody System Dynamics"
DOI: 10.1007/s11044-017-9578-3
Abstract: This paper deals with the dynamic modeling and base inertial parameter determination of a general 5R 2-degree-of-freedom spherical parallel manipulator. By using a new geometric approach, inverse and forward kinematic problem are transformed to the… read more here.
Keywords: base inertial; spherical parallel; base; dynamic model ... See more keywords
Module combination based configuration synthesis and kinematic analysis of generalized spherical parallel mechanism for ankle rehabilitation
Sign Up to like & getrecommendations! Published in 2021 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2021.104436
Abstract: Abstract In the previous rehabilitation robot research, the proposed ankle models for rehabilitation robot design have distinctions with the ankle bone structure. It leads to the unsatisfactory human-machine compatibility of the robots constructed based on… read more here.
Keywords: generalized spherical; spherical parallel; rehabilitation; mechanism ... See more keywords
Task-based torque minimization of a 3-PṞR spherical parallel manipulator
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DOI: 10.1017/s026357472100062x
Abstract: Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and… read more here.
Keywords: manipulator; parallel manipulator; spherical parallel; torque minimization ... See more keywords
Experimental Study of the Mechanical Properties of a Spherical Parallel Link Mechanism With Arc Prismatic Pairs
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3192760
Abstract: A two-degrees-of-freedom spherical parallel link mechanism (2-DOF SPM) was designed to ensure that it only has rotational degrees of freedom in two directions around a fixed center. In general, 2-DOF SPM includes passive rotating pairs,… read more here.
Keywords: dof; friction; prismatic pairs; model ... See more keywords
Constrained Orientation Control of a Spherical Parallel Manipulator via Online Convex Optimization
Sign Up to like & getrecommendations! Published in 2018 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2017.2774245
Abstract: This paper introduces a new framework for the closed-loop orientation control of spherical parallel manipulators (SPMs) based on the online solution of a convex optimization problem. The aim of solving a constrained optimization problem is… read more here.
Keywords: orientation; orientation control; spherical parallel; optimization ... See more keywords
Optimization of the ASPIRE Spherical Parallel Rehabilitation Robot Based on Its Clinical Evaluation
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Environmental Research and Public Health"
DOI: 10.3390/ijerph18063281
Abstract: The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system,… read more here.
Keywords: spherical parallel; aspire spherical; optimization aspire; clinical evaluation ... See more keywords
Novel Reconfigurable Spherical Parallel Mechanisms with a Circular Rail
Sign Up to like & getrecommendations! Published in 2022 at "Robotics"
DOI: 10.3390/robotics11020030
Abstract: The COVID-19 pandemic has placed unprecedented stress on the world healthcare system and demonstrated the need for modern automated robotic solutions for numerous medical applications. Often, robots that provide spherical motion of the end-effector are… read more here.
Keywords: spherical parallel; parallel mechanisms; mechanisms circular; reconfigurable spherical ... See more keywords
Singularity and branch identification of a 2 degree-of-freedom (DOF) seven-bar spherical parallel manipulator
Sign Up to like & getrecommendations! Published in 2020 at "Mechanical Sciences"
DOI: 10.5194/ms-11-381-2020
Abstract: Abstract. Spherical parallel manipulators (SPMs) have a great potential for industrial applications of robot wrists, camera-orientating devices, and even sensors because of their special structure. However, increasing with the number of links, the kinematics analysis… read more here.
Keywords: seven bar; dof seven; spherical parallel; branch ... See more keywords