Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism with 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks (bibtex)
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Abstract:
This paper proposes a two rotation and two translation (2T2R) four-degree-of-freedom parallel kinematic mechanism (PKM) for the design of a knee rehabilitation and diagnosis mechatronics system. A review of previously proposed 2R2T parallel mechanisms is presented. Then, a novel proposal is developed based on the analysis of each kinematic chain and the Grubler-Kutzbach criterion. Consequently, the proposal consists of a central limb with revolute-prismatic-universal joints (RPU) and three external limbs with universal-prismatic-spherical joints (UPS). The screw theory analysis verifies the required mobility of the mechanism. Also, closed-loop equations enable to put forward the closed-form solution for the inverse-displacement model, and a numerical solution for the forward-displacement model. A comparison of the numerical results from five test trajectories and the solution obtained using a virtual prototype built in MSC-ADAMS shows agreement which indicates that the developed solutions represent the mechanism kinematics motion. The analysis of the forward-displacement problem highlights that the limbs of the mechanism should be arranged asymmetrically. Moreover, the screw theory makes it possible to obtain the Jacobian matrix which provides insights into the analysis of the mechanism's workspace. The results show the proposed PKM can coup with the required diagnosis and rehabilitation task: translational motion parallel to the $x-z$ plane and two rotations, one parallel to the $y$ axis and the second normal to the moving platform. The obtained results have provided the guidelines to build a first prototype of the mechanism.
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Reference:
Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism with 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks (Pedro Araujo-Gómez, Vicente Mata, Miguel Díaz-Rodríguez, Angel Valera, Álvaro Page), In Journal of Mechanisms and Robotics, ASME, volume –, 2017.
Bibtex Entry:
@article{araujo2017,
  title={Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism with 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks},
  author={Araujo-G{\'o}mez, Pedro and Mata, Vicente and D{\'\i}az-Rodr{\'\i}guez, Miguel and Valera, Angel and Page, {\'A}lvaro},
  journal={Journal of Mechanisms and Robotics},
  year={2017},
    publisher={ASME},
  volume={--},
  number={-},
pages = {--},
  url={http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2653421},
  doi={doi:10.1115/1.4037800},
  abstract={This paper proposes a two rotation and two translation (2T2R) four-degree-of-freedom parallel kinematic mechanism (PKM) for the design of a knee rehabilitation and diagnosis mechatronics system. A review of previously proposed 2R2T parallel mechanisms is presented. Then, a novel proposal is developed based on the analysis of each kinematic chain and the Grubler-Kutzbach criterion. Consequently, the proposal consists of a central limb with revolute-prismatic-universal joints (RPU) and three external limbs with universal-prismatic-spherical joints (UPS). The screw theory analysis verifies the required mobility of the mechanism. Also, closed-loop equations enable to put forward the closed-form solution for the inverse-displacement model, and a numerical solution for the forward-displacement model. A comparison of the numerical results from five test trajectories and the solution obtained using a virtual prototype built in MSC-ADAMS shows agreement which indicates that the developed solutions represent the mechanism kinematics motion. The analysis of the forward-displacement problem highlights that the limbs of the mechanism should be arranged asymmetrically. Moreover, the screw theory makes it possible to obtain the Jacobian matrix which provides insights into the analysis of the mechanism's workspace. The results show the proposed PKM can coup with the required diagnosis and rehabilitation task: translational motion parallel to the $x-z$ plane and two rotations, one parallel to the $y$ axis and the second normal to the moving platform. The obtained results have provided the guidelines to build a first prototype of the mechanism.},
}
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