Hostname: page-component-7479d7b7d-m9pkr Total loading time: 0 Render date: 2024-07-11T12:15:02.496Z Has data issue: false hasContentIssue false
  • English
  • Français

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Published online by Cambridge University Press:  05 November 2019

Houssem Saafi Open the ORCID record for Houssem Saafi [Opens in a new window]  and
Houssein Lamine Open the ORCID record for Houssein Lamine [Opens in a new window]
Houssem Saafi*
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia E-mail: houssein.lamine@gmail.co Preparatory Institute for Engineering Studies of Gafsa, University of Gafsa, Gafsa 2000, Tunisia
Houssein Lamine
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia E-mail: houssein.lamine@gmail.co
*
*Corresponding author. E-mail: houssem.saafi@gmail.com
Get access Rights & Permissions [Opens in a new window]

Summary

This paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Keywords

Parallel robotSingularityOptimizationRedundancyForward kinematic modelHaptic
Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020 , pp. 1463 - 1477
Copyright
© Cambridge University Press 2019

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Park, W., Kim, L., Cho, H. and Park, S., “Design of Haptic Interface for Brickout Game,” IEEE International Workshop on Haptic Audio visual Environments and Games, HAVE 2009, Kuala Lumpur, Malaysia (IEEE, 2009) pp. 64–68.10.1109/HAVE.2009.5356137CrossRefGoogle Scholar
Gosselin, F., Jouan, T., Brisset, J. and Andriot, C., “Design of a Wearable Haptic Interface for Precise Finger Interactions in Large Virtual Environments,” First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics Conference, Pisa, Italy (IEEE, 2005) pp. 202–207.CrossRefGoogle Scholar
van den Bedem, L., Hendrix, R., Rosielle, N., Steinbuch, M. and Nijmeijer, H., “Design of a Minimally Invasive Surgical Teleoperated Master-Slave System with Haptic Feedback,” International Conference on Mechatronics and Automation, ICMA 2009, Changchun, China (IEEE, 2009) pp. 60–65.10.1109/ICMA.2009.5246502CrossRefGoogle Scholar
Tobergte, A., Helmer, P., Hagn, U., Rouiller, P., Thielmann, S., Grange, S., Albu-Schäffer, A., Conti, F. and Hirzinger, G., “The sigma. 7 Haptic Interface for Mirosurge: A New Bi-Manual Surgical Console,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA (IEEE, 2011) pp. 3023–3030.10.1109/IROS.2011.6094433CrossRefGoogle Scholar
Saafi, H., Laribi, M. A., Zeghloul, S. and Arsicault, M., “On the development of a new master device used for medical tasks,” J. Mechan. Robot. 10(4), 1–6 (2018).Google Scholar
Pedemonte, N., Laliberté, T. and Gosselin, C., “Bidirectional haptic communication: Application to the teaching and improvement of handwriting capabilities,” Machines 4(1), 6 (2016).CrossRefGoogle Scholar
An, J. and Kwon, D.-S., “Five-bar linkage haptic device with DC motors and MR brakes,” J. Intell. Mater. Syst. Struct. 20(1), 97–107 (2009).Google Scholar
Choi, H., Kwon, D.-S. and Kim, M.-S., “Design of Novel Haptic Mouse and its Applications,” 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2003, Las Vegas, NV, USA, vol. 3 (IEEE, 2003) pp. 2260–2265.Google Scholar
Tsetserukou, D., Hosokawa, S. and Terashima, K., “Linktouch: A Wearable Haptic Device with Five-Bar Linkage Mechanism for Presentation of Two-DOF Force Feedback at the Fingerpad,” Haptics Symposium (HAPTICS), Houston, TX, USA (IEEE, 2014) pp. 307–312.Google Scholar
Merlet, J.-P. and Gosselin, C., “Parallel Mechanisms and Robots,” In: Springer Handbook of Robotics (Siciliano, B. and Khatib, O., eds.) (Springer, Berlin, Heidelberg, 2008) pp. 269–285.CrossRefGoogle Scholar
Gosselin, C. and Angeles, J., “Singularity analysis of closed-loop kinematic chains,” IEEE Trans. Robot. Auto. 6(3), 281–290 (1990).10.1109/70.56660CrossRefGoogle Scholar
Özdemir, M., “High-order singularities of 5R planar parallel robots,” Robotica 37(2), 233–245 (2019).CrossRefGoogle Scholar
Alıcı, G., “Determination of singularity contours for five-bar planar parallel manipulators,” Robotica 18(5), 569–575 (2000).10.1017/S0263574700002733CrossRefGoogle Scholar
Zhou, H. and Ting, K.-L., “Path generation with singularity avoidance for five-bar slider-crank parallel manipulators,” Mechan. Mach. Theory 40(3), 371–384 (2005).CrossRefGoogle Scholar
Ceccarelli, M., Carbone, G. and Ottaviano, E., “An Optimization Problem Approach for Designing Both Serial and Parallel Manipulators,” Proceedings of MUSME 2005, the International Symposiom on Multibody Systems and Mechatronics, Uberlandia, Brazil (2005) pp. 6–9.Google Scholar
Lou, Y., Liu, G., Xu, J. and Li, Z.. “A General Approach for Optimal Kinematic Design of Parallel Manipulators,” IEEE International Conference on Robotics and Automation, ICRA’04 2004, New Orleans, LA, USA, vol. 4 (2004) pp. 3659–3664.Google Scholar
Rosyid, A., El-Khasawneh, B. and Alazzam, A., “Genetic and hybrid algorithms for optimization of non-singular 3PRR planar parallel kinematics mechanism for machining application,” Robotica 36(6), 839–864 (2018).10.1017/S0263574718000152CrossRefGoogle Scholar
Stocco, L., Salcudean, S. E. and Sassani, F., “Fast constrained global minimax optimization of robot parameters,” Robotica 16(6), 595–605 (1998).CrossRefGoogle Scholar
Unal, R., Kiziltas, G. and Patoglu, V., “A Multi-criteria Design Optimization Framework for Haptic Interfaces,” 2008 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Waltham, MA, USA (2008) pp. 231–238.10.1109/HAPTICS.2008.4479949CrossRefGoogle Scholar
Shim, H.-S., Seo, T. and Lee, J. W., “Optimal torque distribution method for a redundantly actuated 3-rrr parallel robot using a geometrical approach,” Robotica 31(4), 549–554 (2013).CrossRefGoogle Scholar
Choi, J. H., Seo, T. and Lee, J. W., “Torque distribution optimization of redundantly actuated planar parallel mechanisms based on a null-space solution,” Robotica 32(7), 1125–1134 (2014).CrossRefGoogle Scholar
Saafi, H., Laribi, M. A. and Zeghloul, S., “Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: Improving dexterity and eliminating singularity,” Robotica 33(5), 1113–1130 (2015).10.1017/S0263574714001751CrossRefGoogle Scholar
Ruiz, A. G., Santos, J. C., Croes, J., Desmet, W. and da Silva, M. M., “On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators,” Robotica 36(6), 809–821 (2018).10.1017/S026357471800005XCrossRefGoogle Scholar
Lee, J. H., Yi, B.-J., Oh, S.-R. and Suh, I. H., “Optimal Design of a Five-Bar Finger with Redundant Actuation,” 1998 IEEE International Conference on Robotics and Automation, 1998, Leuven, Belgium, vol. 3 (IEEE, 1998) pp. 2068–2074.Google Scholar
Wu, J., Wang, J. and Wang, L., “A comparison study of two planar 2-DOF parallel mechanisms: One with 2-RRR and the other with 3-RRR structures,” Robotica 28(6), 937–942 (2010).10.1017/S0263574709990828CrossRefGoogle Scholar
Shang, W. and Cong, S., “Dexterity and adaptive control of planar parallel manipulators with and without redundant actuation,” J. Comput. Nonlinear Dyn. 10(1), 011002 (2015).10.1115/1.4027581CrossRefGoogle Scholar
Wu, J., Li, T., Wang, J. and Wang, L., “Performance analysis and comparison of planar 3-dof parallel manipulators with one and two additional branches,” J. Intell. Robot. Syst. 72(1), 73–82 (2013).CrossRefGoogle Scholar
Salem, A. A., Khedr, T. Y., El Ghazaly, G. and Mahmoud, M.I., “Modeling and Performance Analysis of Planar Parallel Manipulators,” International Conference on Advanced Intelligent Systems and Informatics, Cairo, Egypt (Springer, 2017) pp. 13–23.Google Scholar
Campos, L., Bourbonnais, F., Bonev, I. A. and Bigras, P., “Development of a Five-Bar Parallel Robot with Large Workspace,” ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, Quebec, Canada (American Society of Mechanical Engineers, 2010) pp. 917–922.Google Scholar
Villarreal-Cervantes, M. G., Cruz-Villar, C. A., Alvarez-Gallegos, J. and Portilla-Flores, E. A., “Differential evolution techniques for the structure-control design of a five-bar parallel robot,” Eng. Opt. 42(6), 535–565 (2010).CrossRefGoogle Scholar
Saafi, H., Laribi, M. A. and Zeghloul, S., “Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device,” Robot. Auto. Syst. 89, 40–50 (2017).10.1016/j.robot.2016.12.005CrossRefGoogle Scholar