ABSTRACT: This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators. First, the manipulators under study as well as their degeneracy conditions are presented. Then, an optimization problem is formulated in order to obtain their maximal regular dexterous workspace. Moreover, the sensitivity coefficients of the pose of the manipulator moving platform to variations in th...

Recent advances in technology have led to the fusion of MIS techniques and robot devices. However, current systems are large and cumbersome. Optimizing the surgical robot mechanism will eventually lead to its integration into the operating room (OR) of the future becoming the extended presence of the surgeon and nurses in a room occupied by the patient alone. By optimizing a spherical mechanism...

We present a methodology for both the efficient integration and dexterous manipulation of CAD models in a physical-based virtual reality simulation. The user interacts with a virtual car mock-up using a stringbased haptic interface that provides force sensation in a large workspace. A prop is used to provide grasp feedback. A mocap system is used to track user’s hand and head movements. In addi...

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented...

In this paper, a new Behavioral-based Particle Swarm Optimization algorithm is proposed in order to solve the inverse kinematics problem for a manipulator operating in an environment cluttered with obstacles. The introduced variant of the Particle Swarm Optimization relies on the idea of dividing the population of the particles in subgroups, each of which with a specific task, achieving in this...

Two methods for determining dexterity of manipulator arms are presented. A numerical method is illustrated for determining all possible orientations of the end-effector of an open kinematic chain based upon a row-rank deficiency of the sub-Jacobian of the kinematic constraint equations. This numerical method has been adapted from a theory for determining the accessible output set for planar and...

Smoothness is a commonly used measure of motion control. Physiological characterized by high smoothness in the upper limb workspace. Moreover, there evidence that smoothness-based models describe effectively skilled planning. Typical measures are based on wrist kinematics. Despite being often as motor control and to evaluate clinical pathologies, so far, map not available for whole workspace li...

In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing joint displacement while end effector positioned and oriented in desired pose. The novelty formulation problem, where objective function calculates minimum displacement, with position orientation errors handled a...

The continuum robot is a new type of bionic which widely used in the medical field. However, current structure limits its application field minimally invasive surgery. In this paper, bio-inspired compound (CCR) combining concentric tube (CTR) and notched proposed to design high-dexterity surgical instrument. Then, kinematic model, considering stability CTR part, was established. unstable operat...