Relevant bibliographies by topics / Cable-driven serial kinematic chain

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  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Cable-driven serial kinematic chain'

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Published: 9 March 2023

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Journal articles on the topic "Cable-driven serial kinematic chain"

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Yigit, Cihat Bora, and Pinar Boyraz. "Design and Modelling of a Cable-Driven Parallel-Series Hybrid Variable Stiffness Joint Mechanism for Robotics." Mechanical Sciences 8, no. 1 (March 22, 2017): 65–77. http://dx.doi.org/10.5194/ms-8-65-2017.

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Abstract. The robotics, particularly the humanoid research field, needs new mechanisms to meet the criteria enforced by compliance, workspace requirements, motion profile characteristics and variable stiffness using lightweight but robust designs. The mechanism proposed herein is a solution to this problem by a parallel-series hybrid mechanism. The parallel term comes from two cable-driven plates supported by a compression spring in between. Furthermore, there is a two-part concentric shaft, passing through both plates connected by a universal joint. Because of the kinematic constraints of the universal joint, the mechanism can be considered as a serial chain. The mechanism has 4 degrees of freedom (DOF) which are pitch, roll, yaw motions and translational movement in z axis for stiffness adjustment. The kinematic model is obtained to define the workspace. The helical spring is analysed by using Castigliano's Theorem and the behaviour of bending and compression characteristics are presented which are validated by using finite element analysis (FEA). Hence, the dynamic model of the mechanism is derived depending on the spring reaction forces and moments. The motion experiments are performed to validate both kinematic and dynamic models. As a result, the proposed mechanism has a potential use in robotics especially in humanoid robot joints, considering the requirements of this robotic field.
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Nie, Xichun, and Venkat Krovi. "Fourier Methods for Kinematic Synthesis of Coupled Serial Chain Mechanisms." Journal of Mechanical Design 127, no. 2 (March 1, 2005): 232–41. http://dx.doi.org/10.1115/1.1829726.

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Single degree-of-freedom coupled serial chain (SDCSC) mechanisms are a class of mechanisms that can be realized by coupling successive joint rotations of a serial chain linkage, by way of gears or cable-pulley drives. Such mechanisms combine the benefits of single degree-of-freedom design and control with the anthropomorphic workspace of serial chains. Our interest is in creating articulated manipulation-assistive aids based on the SDCSC configuration to work passively in cooperation with the human operator or to serve as a low-cost automation solution. However, as single-degree-of-freedom systems, such SDCSC-configuration manipulators need to be designed specific to a given task. In this paper, we investigate the development of a synthesis scheme, leveraging tools from Fourier analysis and optimization, to permit the end-effectors of such manipulators to closely approximate desired closed planar paths. In particular, we note that the forward kinematics equations take the form of a finite trigonometric series in terms of the input crank rotations. The proposed Fourier-based synthesis method exploits this special structure to achieve the combined number and dimensional synthesis of SDCSC-configuration manipulators for closed-loop planar path-following tasks. Representative examples illustrate the application of this method for tracing candidate square and rectangular paths. Emphasis is also placed on conversion of computational results into physically realizable mechanism designs.
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Krivošej, Jan, and Zbyněk Šika. "Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation." Machines 9, no. 12 (December 7, 2021): 338. http://dx.doi.org/10.3390/machines9120338.

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The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure the whole system. The fulfillment of sufficient prestressing is the constraint of the optimization process. Computed Torque Control with a cable force distribution algorithm is implemented. The control algorithm performance is examined on different trajectories, including non-smooth motion requests, and its robustness is tested by randomly generated errors of the model parameters in regulators. The results demonstrate that the optimized structure is capable of controlling the manipulator motion and keeping the cable prestressing within the given limits.
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Zhang, Fengxuan, Silu Chen, Yongyi He, Guoyun Ye, Chi Zhang, and Guilin Yang. "A Kinematic Calibration Method of a 3T1R 4-Degree-of-Freedom Symmetrical Parallel Manipulator." Symmetry 12, no. 3 (March 2, 2020): 357. http://dx.doi.org/10.3390/sym12030357.

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This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local product of exponentials formula. Based on this model, the model of the end effector’s pose error is established from a pair of symmetrical branched chains, and a recursive least square method is applied for the parameter identification. By installing built-in sensors at the passive joints, a calibration method for a serial manipulator is eventually extended to this parallel manipulator. Specifically, the sensor installed at the second revolute joint of each branched chain is saved, replaced by numerical calculation according to kinematic constraints. The simulation results validate the effectiveness of the proposed kinematic error modeling and identification methods. The procedure for pre-processing compensation on this 3T1R parallel manipulator is eventually given to improve its absolute positioning accuracy, using the inverse of the calibrated kinematic model.
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Chang, Li Min, Hong Qiang Sang, and Li Ping Xu. "Kinematic Analysis Based on Screw Theory of a 3-DOF Cable-Driven Surgical Instrument." Applied Mechanics and Materials 490-491 (January 2014): 375–78. http://dx.doi.org/10.4028/www.scientific.net/amm.490-491.375.

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The Forward kinematic and the inverse kinematic were analyzed of 3-DOF cable-driven surgical instrument in this paper. Kinematics of open chain surgical instrument was derived by the product of exponentials formula, and Paden and Kahan subproblems. Kinematic analysis of the 3-DOF cable-driven surgical instrument can be analyzed by the map relationship between the end effectors and the joint angles of the surgical instrument after removal of cables and pulleys and the map relationship between the rotor angular displacement of the motor and joint angular displacement. The analysis method can be useful for motion analysis and control for cable-driven robotic mechanisms.
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Cheng, H. H. "Real-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator." Journal of Dynamic Systems, Measurement, and Control 116, no. 4 (December 1, 1994): 687–701. http://dx.doi.org/10.1115/1.2899268.

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The real-time implementation of path planning, trajectory generation, and servo control for manipulation of the prototype UPSarm are presented in this paper. The prototype UPSarm, which is primarily designed for studying the feasibility of loading packages inside a trailer, is a ten degree-of-freedom hybrid serial-and-parallel-driven redundant robot manipulator. The direct, forward, inverse, and indirect kinematic solutions of the UPSarm using three coordinate spaces: actuator space, effective joint space, and world Cartesian coordinate space are derived for real-time path planning, trajectory generation, and control. The manipulation of the UPSarm is based upon a general-purpose path planner and trajectory generator. Provided with appropriate kinematics modules and sufficient computational power, this path planner and trajectory generator can be used for real-time motion control of any degree-of-freedom hybrid serial-and-parallel-driven electromechanical devices. A VMEbus-based distributed computing system has been implemented for real-time motion control of the UPSarm. A PID-based feedforward servo control scheme is used in our servo controller. The motion examples of the UPSarm programmed in our robot language will show the practical manipulation of hybrid serial-and-parallel-driven redundant kinematic chains.
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Lou, Ya’nan, Haoyu Lin, Pengkun Quan, Dongbo Wei, and Shichun Di. "Self-Calibration for the General Cable-Driven Serial Manipulator with Multi-Segment Cables." Electronics 10, no. 4 (February 11, 2021): 444. http://dx.doi.org/10.3390/electronics10040444.

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This paper focuses on the kinematic calibration problem for the general cable-driven serial manipulator (CDSM) with multi-segment cables to improve its motion control accuracy. Firstly, to fully describe the calibration parameters of cables, links, joint positions, and the transmission system, this paper proposes a new cable routing description method named cable-routing configuration struct (CRCS), which provides a complete set of parameters to be calibrated for the proposed self-calibration algorithm. Then, a self-calibration algorithm for CDSM with motor incremental encoders is proposed, which can calibrate the robot at one time only using sufficient measured motor and joint positions. Its premise, the initial cable length, needs to be calibrated. Finally, the parameters of a three-DOF (degree of freedom) six-cable CDSM were described using the CRCS description method, and a comparative experiment was carried out on the same motion controller using the parameters before and after calibration. The experiment results of trajectory tracking error showed that the calibration parameters obtained by the proposed calibration algorithm can significantly improve the motion control accuracy of the three-DOF six-cable CDSM. This verified the correctness and effectiveness of the proposed calibration algorithm.
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Lin, Jonqlan, Chi Ying Wu, and Julian Chang. "Design and implementation of a multi-degrees-of-freedom cable-driven parallel robot with gripper." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880384. http://dx.doi.org/10.1177/1729881418803845.

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Cable-driven parallel robots comprise driven actuators that allow controlled cables to act in parallel on an end-effector. Such a robotic system has a potentially large reachable workspace, large load capacity, high payload-to-weight ratio, high reconfigurability, and low inertia, relative to rigid link serial and parallel robots. In this work, a multi-degrees-of-freedom cable-suspended robot that can carry out pick-and-place tasks in large workspaces with heavy loads is designed. The proposed cable-driven parallel robot is composed of a rigid frame and an end-effector that is suspended from eight cables—four upper cables and four lower cables. The lengths of the cables are computed from the given positions of the suspended end-effector using a kinematic model. However, most multi-cable-driven robots suffer from interference among the cables, requiring a complex control methodology to find a target goal. Owing to this issue with cable-driven parallel robots, the whole control structure decomposes positioning control missions and allocates them into upper level and lower level. The upper level control is responsible for tracking the suspended end-effector to the target region. The lower level control makes fine positional modifications. Experimental results reveal that the hybrid control mode notably improves positioning performance. The wide variety of issues that are considered in this work apply to aerostats, towing cranes, locomotion interfaces, and large-scale manufacturing that require cable-driven parallel robots.
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Eckenstein, Nick, and Mark Yim. "Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems." Journal of Mechanisms and Robotics 5, no. 4 (October 4, 2013). http://dx.doi.org/10.1115/1.4025218.

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Two new designs for gravity compensated modular robotic systems are presented and analyzed. The gravity compensation relies on using zero-free-length springs approximated by a cable and pulley system. Simple yet powerful parallel four-bar modules enable the low-profile self-contained modules with sequential gravity compensation using the spring method for motion in a vertical plane. A second module that is formed as a parallel six-bar mechanism adds a horizontal motion to the previous system that also yields a complete decoupling of position and orientation of the distal end of a serial chain. Additionally, we introduce the concept of vanishing effort where as the number of modules that comprise an articulated serial chain increases, the actuation authority required at any joint reduces. Essentially, this results in a method for distributing actuation along the length of an articulated chain. Prototypes were designed and constructed validating the analysis and accomplishing the functions of a general serial-type manipulator arm.
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Huang, Long, Lairong Yin, Bei Liu, and Yang Yang. "Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions." Journal of Mechanical Design 143, no. 1 (July 27, 2020). http://dx.doi.org/10.1115/1.4047519.

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Abstract In a minimally invasive surgical (MIS) robot, the remote center of motion (RCM) mechanism is usually used to realize the constrained motion of the surgical instrument. In this paper, a novel design method for planar 2DOF RCM mechanisms is proposed based on closed-loop cable transmissions. The concept is to utilize several coupled cable transmissions to constrain a serial kinematic chain. Through the analysis and determination of the transmission ratios for these cable transmissions, a class of planar 2DOF RCM mechanisms without any active or passive translational joints is obtained, which provides large workspace and low collision risk for the MIS robots. One of the resulting mechanisms is designed in detail and kinematically analyzed. To evaluate the influence of the elastic cables, a new error model for the proposed RCM mechanism is established through the static analysis and cable deformation analysis. Utilizing this model, the cable-induced error distributions of the tip and the RCM point are obtained, which show that these errors are within a relatively small range. Furthermore, the prototype of the proposed mechanism is built, and the accuracy experiments are conducted.
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Dissertations / Theses on the topic "Cable-driven serial kinematic chain"

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Rajnoha, Andrej. "Polohování objektu ve 3D prostoru pomocí paralelního lanového robota." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2016. http://www.nusl.cz/ntk/nusl-240842.

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At the beginning of this master’s thesis the definition of types of robots using parallel kinematics are presented, its possibilities of usage and current prototypes are described. The second chapter focuses on the proposal of robot construction and sizing electric and non-electric components of robot hardware. Derivation of direct and inverse transform mechanisms with creating flowcharts of their algorithms are stated in the two following chapters. The state machine controlled from user interface is then programmed based on these flowcharts. At the end of the work, cable-driven robot positioning accuracy is evaluated and platform workspace, together with motion and electric parameters, are measured.
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Book chapters on the topic "Cable-driven serial kinematic chain"

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Sanjeevi, N. S. S., and Vineet Vashista. "Effect of Passive Springs on Taskspace Stiffness of a Cable-Driven Serial Chain Manipulator." In Lecture Notes in Mechanical Engineering, 601–12. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-3716-3_48.

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Zaraki, Abolfazl, Yoshikatsu Hayashi, Daniel George, Harry Thorpe, Vincent Strong, Gisle-Andre Larsen, Benjamin Jackson, and William Holderbaum. "Developing a Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-redundant Serial Manipulator." In Springer Proceedings in Advanced Robotics, 1–12. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-91352-6_1.

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Conference papers on the topic "Cable-driven serial kinematic chain"

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Ramadoss, Vishal, Darwin Lau, Dimiter Zlatanov, and Matteo Zoppi. "Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22502.

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Abstract The multilink cable driven robot (MCDR) is an extension of the cable robots where the moving platform is replaced by a multibody chain. It is typically an open-chain structure with multiple links and complex cable routing. This design introduces the advantages of having a serial kinematic structure and preserves the benefits associated with cable-driven parallel mechanism. To achieve a minimum number of actuating cables while possessing a large workspace region, a novel internal cable routing scheme is proposed. It is shown that by incorporating internal routing with multi-segment cables, any serial chain with n degrees of freedom can be controlled with n + 1 cables. In this work, through studying the kinematics and statics, we demonstrate how internally-routed cable actuation of multilink manipulators have an increased workspace and reduced cable forces to execute trajectories.
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Krovi, Venkat, G. K. Ananthasuresh, and Vijay Kumar. "Kinetostatic Synthesis of Coupled Serial Chains." In ASME 1998 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/detc98/mech-5977.

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Abstract Single Degree-of-freedom Coupled Serial Chain (SDCSC) mechanisms are a novel class of modular and compact mechanisms with single degree-of-freedom actuation and control. In this paper, the kinetostatic synthesis of SDCSC mechanisms is addressed. Using the principle of virtual work, the static force equilibrium equations are developed for two-link SDCSCs. These are combined with the previously developed kinematic loop-closure equations to solve the kinetostatic precision point synthesis problem. Since the ratios of the angular velocities at the joints are constants by virtue of cable-pulley coupling in SDCSCs, it possible to render the kinetostatic equations linear in terms of the mechanism parameters. As a result, the solution of the precision point synthesis problem of SDCSCs becomes simpler compared to that of the four-bar mechanism. In order to meet additional criteria such as minimizing the maximum torque required over the entire range of motion of the mechanism, an optimization problem is formulated. The free choices in the precision point synthesis are used as variables in the optimal synthesis problem. The paper also addresses how torsional springs at the joints can be utilized to reduce the required input torque in supporting a specified load at the end-effector. Numerical examples are presented to illustrate the precision point and the optimal synthesis of two-link SDCSC mechanism with and without torsional springs at the joints.
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Abidoye, Cecil, Devin Grace, Andrea Contreras-Esquen, Aden Edwards, Turaj Ashuri, Ayse Tekes, and Amir Ali Amiri Moghadam. "Development of a Novel 3-Universal-Spherical-Revolote Soft Parallel Robot." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-95235.

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Abstract Soft parallel robots are among the latest advancements in the field of soft robotics with wide range of applications. Most of the existing soft robotic systems comprise from serial soft arms which can provide high degrees of freedom (DOF), but suffer from low stiffness, and limited payload due to their soft structure. To address these issues recently researchers have introduced soft parallel robots. Similar to their rigid counterparts, soft parallel robot will have higher blocking force, stiffness, and accuracy. We have previously introduced two, and three DOF soft parallel robots and in the current work we will introduce a novel six DOF robot named 3-universal-spherical-revolute (3USR) soft parallel robot. This robotic system is consisted of three closed-loop kinematic chains. Each chain includes a soft active arm with two DOF which is connected to a compliant passive link through soft joints. This configuration provides six DOF for the soft robot (x, y, z, roll, pitch, yaw). The prototype of the robot is 3D printed using NINJA flex, thermoplastic polyurethane (TPU), and polylactic acid (PLA). Each soft active arm consists of a two DOF tendon driven soft actuator which is 3D printed using NINJA flex and are actuated using two servo motors. Two types of soft joints are used namely soft spherical and revolute joints. The shape and size of the soft joints are optimized so that the robot will achieve six DOF. MATLAB Simscape model is used to simulate the dynamical response of the mechanism for various inputs.
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Sanjeevi, N. S. S., and Vineet Vashista. "Effect of Cable Co-sharing on the Workspace of a cable-Driven Serial Chain Manipulator." In AIR 2019: Advances in Robotics 2019. New York, NY, USA: ACM, 2019. http://dx.doi.org/10.1145/3352593.3352665.

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Munnae, Jomkwun, Gary McMurray, and Harvey Lipkin. "Static and Kinematic Analysis of a Planar Cable-Driven Flexible Endoscope." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87542.

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Flexible endoscopes are mainly used for diagnostics and performing simple therapeutic tasks inside human cavities but are now becoming the key instrument for the incisionless surgery known as natural orifice transluminal endoscopic surgery (NOTES). Since the current endoscope technology gives limited maneuverability, dexterity, and functionality, a number of new endoscope designs have been proposed. Due to miniaturization, conduit, and actuation simplicity, many of the new designs rely on cable-actuating mechanisms similar to the current technology. Basic kinematical and static analyses for this device have not appeared in the literature. In this paper the articulated section of a planar cable-driven endoscope is modeled as a serial robot. The kinematic and static analyses for single-jointed and multi-jointed endoscope structures are performed to relate tip motion to the controlling inputs. Pre-tensioning cables increases the endoscope stiffness and extends its range of operation.
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Bryson, Joshua T., and Sunil K. Agrawal. "Methodology to Identify and Analyze Optimal Cable Configurations in the Design of Cable-Driven Serial Manipulators." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12261.

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The choice of cable placement and routing for a cable-driven serial manipulator has profound effects on the operational workspace of the mechanism. Poor choices in cable attachment can hamper or preclude the ability of the mechanism to perform a desired task, while a clever configuration might allow for an expanded workspace and kinematic redundancies, providing additional capability and flexibility. This paper outlines a methodology to identify and analyze optimal cable configurations for a serial manipulator which maximize operational workspace subject to mechanism design and configuration constraints. This process is first described in general terms for a generic 2-link robot and then applied to an illustrative example of a cable-driven robot leg. The methodology is used to determine the placement and routing of the cables to achieve the desired range of motion, as well as highlight the critical parameters within the cable configuration and identify possible areas of improvement in the overall robot design.
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Panehal, Nevilkumar, N. S. S. Sanjeevi, and Vineet Vashista. "Lower Limb Musculoskeletal Stiffness Analysis During Swing phase as a Cable-Driven Serial Chain System." In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, 2018. http://dx.doi.org/10.1109/biorob.2018.8488126.

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Soh, Gim Song. "Rigid Body Guidance of Human Gait as Constrained TRS Serial Chain." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34881.

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The motion of gait is a cyclical activity that requires the coordination between locomotion mechanism, motor control and musculoskeletal function. The basic assumption is that one stride is the same as the next. From a simplified kinematics point of view, the human gait can be considered as a TRS serial chain with six degrees-of-freedom driven by the pelvis rotational and tilting motion during walking. This paper presents a dimensional synthesis procedure for the design of two degrees-of-freedom of spatial eight-bar linkages by mechanically constraining a TRS serial chain. The goal is to develop a methodology for the design of under-actuated lower limb walking devices or passively driven exoskeleton systems. The dimensional synthesis process starts with the specification of the links of a TRS chain according to the gait anthropometric data. We show the various ways how four TS constraints can be used to constrain the links of the this chain to obtain a two degrees-of-freedom spatial eight-bar linkage. We formulate and solve the design equations as well as analyze the resulting eight-bar linkage from the data we obtained from an optical motion capture system. An example demonstrates our results.
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Alamdari, Aliakbar, and Venkat Krovi. "Parallel Articulated-Cable Exercise Robot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46389.

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This paper examines the design, analysis and control of a novel hybrid articulated-cable parallel platform for upper limb rehabilitation in three dimensional space. The proposed lightweight, low-cost, modular reconfigurable parallel-architecture robotic device is comprised of five cables and a single linear actuator which connects a six degrees-of-freedom moving platform to a fixed base. This novel design provides an attractive architecture for implementation of a home-based rehabilitation device as an alternative to bulky and expensive serial robots. The manuscript first examines the kinematic analysis prior to developing the dynamic equations via the Newton-Euler formulation. Subsequently, different spatial motion trajectories are prescribed for rehabilitation of subjects with arm disabilities. A low-level trajectory tracking controller is developed to achieve the desired trajectory performance while ensuing that the unidirectional tensile forces in the cables are maintained. This is now evaluated via a simulation case-study and the development of a physical testbed is underway.
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Cisneros, Rafael, Ryo Kikuuwe, Shin'ichiro Nakaoka, and Fumio Kanehiro. "Stable simulation of flexible cable-like objects by using serial kinematic chains with high number of passive degrees-of-freedom." In 2016 IEEE International Conference on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR). IEEE, 2016. http://dx.doi.org/10.1109/simpar.2016.7862385.

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