Kinematic analysis and control of limited 4-DOF parallel manipulator based on screw theory

Khalil Ibrahim; Ahmed A. Ramadan; Mohamed Fanni; Yo Kobayashi; Ahmed A Abo Ismail; Masakatus G. Fujie

doi:10.1109/ICSMC.2012.6377675

Kinematic analysis and control of limited 4-DOF parallel manipulator based on screw theory

Khalil Ibrahim^*, Ahmed A. Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed A Abo Ismail, Masakatus G. Fujie

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Citations (Scopus)

Abstract

This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The virtual prototype of the parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. Four linear motors are used to drive the mechanism. The intuitive simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of kinematics analysis is satisfactory.

Original language	English
Title of host publication	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Pages	47-52
Number of pages	6
DOIs	https://doi.org/10.1109/ICSMC.2012.6377675
Publication status	Published - 2012
Event	2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012 - Seoul Duration: 2012 Oct 14 → 2012 Oct 17

Other

Other	2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012
City	Seoul
Period	12/10/14 → 12/10/17

Keywords

kinematics analysis
modeling simulation
parallel maipulator

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Human-Computer Interaction

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10.1109/ICSMC.2012.6377675

Cite this

Ibrahim, K, Ramadan, AA, Fanni, M, Kobayashi, Y, Ismail, AAA & Fujie, MG 2012, Kinematic analysis and control of limited 4-DOF parallel manipulator based on screw theory. in Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics., 6377675, pp. 47-52, 2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012, Seoul, 12/10/14. https://doi.org/10.1109/ICSMC.2012.6377675

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abstract = "This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The virtual prototype of the parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. Four linear motors are used to drive the mechanism. The intuitive simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of kinematics analysis is satisfactory.",

keywords = "kinematics analysis, modeling simulation, parallel maipulator",

author = "Khalil Ibrahim and Ramadan, {Ahmed A.} and Mohamed Fanni and Yo Kobayashi and Ismail, {Ahmed A Abo} and Fujie, {Masakatus G.}",

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AU - Ibrahim, Khalil

AU - Ramadan, Ahmed A.

AU - Fanni, Mohamed

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AU - Ismail, Ahmed A Abo

AU - Fujie, Masakatus G.

PY - 2012

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N2 - This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The virtual prototype of the parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. Four linear motors are used to drive the mechanism. The intuitive simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of kinematics analysis is satisfactory.

AB - This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The virtual prototype of the parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. Four linear motors are used to drive the mechanism. The intuitive simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of kinematics analysis is satisfactory.

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ER -

Kinematic analysis and control of limited 4-DOF parallel manipulator based on screw theory

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