This paper investigates the behavior of a type of parallel mechanisms with a central strut. The mechanism is of lower mobility, redundantly actuated, and used for sprained ankle rehabilitation. Singularity and dexterity are investigated for this type of parallel mechanisms based on the Jacobian matrix in terms of rank deficiency and condition number, throughout the workspace. The nonredundant cases with three and two limbs are compared with the redundantly actuated case with three limbs. The analysis demonstrates the advantage of introducing the actuation redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation.
Issue Section:
Technical Briefs
1.
Girone
, M. J.
, Burdea
, G. C.
, and Bouzit
, M.
, 1999, “The Rutgers Ankle Orthopedic Rehabilitation Interface
,” Proceedings of the ASME International Mechanical Engineering Congress and Exposition on Dynamic Systems and Control Division
, Nashville TN, Nov., Vol. 67
, p. 305312
.2.
Dai
, J. S.
, and Massicks
, C. P.
, 1999, “An Equilateral Ankle Rehabilitation Device Based on Parallel Mechanisms
,” Proceedings of the Off-Line Simulation Workshop for Robotic End-Effectors and Manipulators, Second World Manufacturing Congress
, Durham, UK.3.
Yoon
, J.
, and Ryu
, J.
, 2005, “A Novel Reconfigurable Ankle/Foot Rehabilitation Robot
,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation
, Apr. 18–22, pp. 2290
–2295
.4.
Liu
, G.
, Gao
, J.
, Yue
, H.
, Zhang
, X.
, and Lu
, G.
, 2006, “Design and Kinematics Analysis of Parallel Robots for Ankle Rehabilitation
,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
, Beijing, Oct. 9–15, pp. 253
–258
.5.
Dai
, J. S.
, Zhao
, T.
, and Nester
, C.
, 2004, “Sprained Ankle Physiotherapy Based Mechanism Synthesis and Stiffness Analysis of a Robotic Rehabilitation Device
,” Auton. Rob.
, 16
(2
), pp. 207
–218
. 0929-55936.
Dai
, J. S.
, Huang
, Z.
, and Lipkin
, H.
, 2006, “Mobility of Overconstrained Parallel Mechanisms
,” ASME J. Mech. Des.
0161-8458, 128
, pp 220
–229
.7.
Hunt
, K. H.
, 1982, “Structural Kinematics of In-Parallel Actuated Robot-Arms
,” Proceedings of the ASME Design and Production Engineering Technical Conference
, Washington, DC, Sept. 12–15, p. 9
.8.
Phillips
, J.
, 1990, Freedom in Machinery
, Cambridge University Press
, Cambridge, England
.9.
Kurtz
, R.
, and Hayward
, V.
, 1992, “Multiple-Goal Kinematic Optimization of a Parallel Spherical Mechanism With Actuator Redundancy
,” IEEE Trans. Rob. Autom.
1042-296X, 8
(5
), pp. 644
–651
.10.
Sukham
, L.
, and Sungbok
, K.
, 1994, “Kinematic Feature Analysis of Parallel Manipulator Systems
,” Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems
, Sept. 12–16, Vol. 2
, pp. 1421
–1428
.11.
Leguay-Durand
, S.
, and Reboulet
, C.
, 1997, “Optimal Design of a Redundant Spherical Parallel Manipulator
,” Robotica
0263-5747, 15
(4
), pp. 399
–405
.12.
Lee
, S. H.
, Yi
, B.-J.
, and Kwak
, Y. K.
, 1997, “Optimal Kinematic Design of an Anthropomorphic Robot Module With Redundant Actuators
,” Mechatronics
, 7
(5
), pp. 443
–464
. 0957-415813.
Cheng
, H.
, Yiu
, Y.-K.
, and Li
, Z.
, 2003, “Dynamics and Control of Redundantly Actuated Parallel Manipulators
,” IEEE/ASME Trans. Mechatron.
1083-4435, 8
(4
), pp. 483
–491
.14.
Wang
, J.
, and Gosselin
, C. M.
, 2004, “Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms
,” ASME J. Mech. Des.
0161-8458, 126
, pp 109
–118
.15.
Dai
, J. S.
, and Kerr
, D. R.
, 2000, “Six-Component Contact Force Measurement Device Based on the Stewart Platform
,” Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci.
, 214
(5
), pp. 687
–697
. 0022-254216.
Merlet
, J. P.
, 2006, “Jacobian, Manipulability, Condition Number, and Accuracy of Parallel Robot
,” ASME J. Mech. Des.
0161-8458, 128
(1
), pp. 199
–206
.17.
Chablat
, D.
, and Wenger
, P.
, 2005, “Design of a Spherical Wrist With Parallel Architecture: Application to Vertebrae of an Eel Robot
,” Proceedings of the IEEE International Conference on Robbotics and Automation
, Apr. 18–22, pp. 3336
–3341
.Copyright © 2008
by American Society of Mechanical Engineers
You do not currently have access to this content.
