Session: MR-01-01 - Mechanisms Synthesis & Analysis

Paper Number: 91025

91025 - Synthesis of a 3-Rps Parallel Manipulator Based on Axodes 

A spatial displacement of a rigid body can be described as a
combination of translation and rotation about an axis, known as
Instantaneous Screw Axis (ISA). As the rigid body moves over
time, ISA will form a ruled surface called axodes. The position
and orientation of ISA and its trajectory over time plays
an important role to determine kinematic models of the human
body. It helps to design wearable orthoses and even to diagnose
any pathological patterns. On the other hand, the motion
of a rigid body can also be described by a transformation matrix
and its time-derivative. This paper presents a synthesis of wearable
orthoses based on ISA. The approach is developed based on
the relation between two velocity matrices, one computed from
the trajectory of the ISA, another one computed from the timederivative
of the transformation matrix. This relation yields a
numerical synthesis of parameters of translations and rotations,
and design parameters of a rigid body. The developed methodology
is applied to a 3-RPS parallel manipulator to obtain parameters
of translations and rotations, and platform dimensions for
a given set of ISA. The surface of ISA axodes is visualized and
three lines of ISA are selected. The poses of a 3-RPS parallel manipulator
to achieve the motion defined by a given set of ISA are
illustrated. The advantage of this approach is less parameters to
be handled, since it aims to synthesize parameters of translations
and rotations, instead of coordinates of points. A coupled motion
(parasitic motion) undergone by a parallel manipulator can be
easily solved by this approach.

Presenting Author: Dongming Gan Purdue University

Presenting Author Biography: Dr. Dongming Gan is an Assistant Professor in the School of Engineering Technology at Purdue University, West Lafayette, IN. He has PhD degrees in Robotics and Mechanical Engineering from King’s College London and Beijing University of Posts and Telecommunications. He worked as postdoc fellow in the Advanced Robotics Department at the Italian Institute of Technology (IIT), Genova, Italy and assistant professor in Robotics and Mechanical Engineering at Khalifa University, Abu Dhabi, UAE, prior joining Purdue. His main research interests fall into the area of robotics, theoretical kinematics, mechanism and machine theory with focus on design, modeling, control and development of intelligent reconfigurable robotic systems, compliant robot manipulators, and flexible light-weight wearable devices for assisting humans in manufacturing, health care and domestic human-robot co-existing scenarios with safe physical interactions and collaborations. He has published over 100 international journal and conference papers on those topics with 4 patents.<br/><br/>Dongming is an Associate Editor of the Springer journal, Mechanism and Machine Theory, a leading journal of mechanism research, an Associate Editor of IMechE Part C: Journal of Mechanical Engineering Science, an Associate Editor of Robotica, a Topic Editor of Mechanical Sciences, a Review Editor on the Editorial Board of Bionics and Biomimetics in Frontiers Journal, and a Guest Editor in Applied Bionics and Biomechanics. He is an elected committee member of the ASME DED Mechanism and Robotics Committee and a member of the American Society of Mechanical Engineers (ASME). He has served on program committees and symposiums of several international conferences including IEEE ICRA 2021/2022, IROS 2019/2020/2022, Cyber 2019, IEEE/ASME ReMAR 2012-2021, Parallel 2014/2020 and ASME IDETC 2012-2022.

Authors:

Latifah Nurahmi Institut Teknologi Sepuluh Nopember
Dongming Gan Purdue University
Sunil K. Agrawal Columbia University