Hostname: page-component-f554764f5-sl7kg Total loading time: 0 Render date: 2025-04-20T13:56:56.649Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimal design of a new redundant spherical parallel manipulator with an unlimited self-rotation capability

Published online by Cambridge University Press:  30 October 2024

Chaima Lahdiri ,
Houssem Saafi Open the ORCID record for Houssem Saafi [Opens in a new window] ,
Abdelfattah Mlika Open the ORCID record for Abdelfattah Mlika [Opens in a new window]  and
Med Amine Laribi Open the ORCID record for Med Amine Laribi [Opens in a new window]
Chaima Lahdiri
Affiliation:
Mechanical Laboratory of Sousse, University of Sousse, Sousse, Tunisia.
Houssem Saafi*
Affiliation:
Mechanical Laboratory of Sousse, University of Sousse, Sousse, Tunisia. Preparatory institute for engineering studies of Gafsa, University of Gafsa, Gafsa, Tunisia.
Abdelfattah Mlika
Affiliation:
Mechanical Laboratory of Sousse, University of Sousse, Sousse, Tunisia.
Med Amine Laribi
Affiliation:
Department of GMSC, Pprime Institute, CNRS– University of Poitiers, ENSMA– UPR 3346, Poitiers, France
*
Corresponding author: Houssem Saafi; Email: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper deals with the optimization of a new redundant spherical parallel manipulator (New SPM). This manipulator consists of two spherical five-bar mechanisms connected by the end-effector, providing three degrees of freedom, and has an unlimited self-rotation capability. Three optimization procedures based on the genetic algorithm method were carried out to improve the dexterity of the New SPM. The first and the second optimizations were applied to a symmetric New SPM structure, while the third was applied to an asymmetric New SPM structure. In both cases, the optimization was performed using an objective function defined by the quadratic sum of link angles. In addition, certain criteria and constraints were implemented. The obtained results demonstrate significant improvements in the dexterity of the New SPM and its capability of an unlimited self-rotate in an extended workspace. A comparison of the self-rotation performances between the classical 3-RRR SPM (R for revolute joint) and the New SPM is also presented.

Keywords

spherical parallel manipulatorunlimited self-rotationoptimizationgenetic algorithmdexterity
Type
Research Article
Information
Robotica , First View , pp. 1 - 16
Copyright
© The Author(s), 2024. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Chaker, A., Mlika, A., Laribi, M. A., Romdhane, L. and Zeghloul, S., “Synthesis of the spherical parallel manipulator for dexterous medical tasks,” Front. Mech. Eng. 7(2), 150–162 (2012).Google Scholar
Meskini, M., Saafi, H., Mlika, A., Arsicault, M., Zeghloul, S. and Laribi, M. A., “Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery,” Robotica 41(10), 3175–3194 (2023).CrossRefGoogle Scholar
Xie, Y., Hou, X. and Wang, S., “Design of a novel haptic joystick for the teleoperation of continuum-mechanism-based medical robots,” Robotics 12(2), 52 (2023).CrossRefGoogle Scholar
Escobar-Castillejos, D., Noguez, J., Neri, L., Magana, A. and Benes, B., “A review of simulators with haptic devices for medical training,” J. Med. Syst. 40(4), 1–22 (2016).CrossRefGoogle ScholarPubMed
Garrec, P., Friconneau, J. P. and Louveaux, F., “Virtuose 6D: A New Force-Control Master Arm Using Innovative Ball-Screw Actuators,” In: ISR 2004-35th International Symposium on Robotics (2004).Google Scholar
Najafi, F. and Sepehri, N., “A novel hand controller for remote ultrasound imaging,” Mechatronics 18(10), 578–590 (2008).CrossRefGoogle Scholar
Birglen, L., Gosselin, C., Pouliot, N., Monsarrat, B. and Laliberté, T., “SHaDe, a new 3-DOF haptic device,” IEEE Trans. Robot. Autom. 18(2), 166–175 (2002).CrossRefGoogle Scholar
Han, Y. M., Choi, S. B. and Oh, J. S., “Tracking controls of torque and force of 4-degree-of-freedom haptic master featuring smart electrorheological fluid,” J. Intell. Mater. Syst. Struct. 27(7), 915–924 (2016).CrossRefGoogle Scholar
Khoshnoodi, H., Rahmani Hanzaki, A. and Talebi, H. A., “Kinematics, singularity study and optimization of an innovative spherical parallel manipulator with large workspace,” J. Intell. Robot. Syst. 92(2), 309–321 (2018).CrossRefGoogle Scholar
Saafi, H., Laribi, M. A. and Zeghloul, S., “Forward kinematic model resolution of a special spherical parallel manipulator: Comparison and real-time validation,” Robotics 9(3), 62 (2020).CrossRefGoogle Scholar
Saafi, H., Laribi, M. A. and Zeghloul, S., “Optimal Haptic Control of a Redundant 3-RRR Spherical Parallel Manipulator,” In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE, 2015) pp. 2591–2596.CrossRefGoogle Scholar
Leguay-Durand, S. and Reboulet, C., “Optimal design of a redundant spherical parallel manipulator,” Robotica 15(4), 399–405 (1997).CrossRefGoogle Scholar
Bai, S., “Optimum design of spherical parallel manipulators for a prescribed workspace,” Mech. Mach. Theory 45(2), 200–211 (2010).CrossRefGoogle Scholar
Liu, G. F., Wu, Y. L., Wu, X. Z., Kuen, Y. Y. and Li, Z. X., “Analysis and Control of Redundant Parallel Manipulators,” In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164) (IEEE), vol. 4 (2001) pp. 3748–3754.Google Scholar
Arata, J. K., Kondo, H., Ikedo, N. and Fujimoto, H., “Haptic device using a newly developed redundant parallel mechanism,” IEEE Trans. Robot. 27(2), 201–214 (2011).CrossRefGoogle Scholar
Marquet, F., Company, O., Krut, S. and Pierrot, F., “Enhancing Parallel Robots Accuracy with Redundant Sensors,” In: Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No. 02CH37292) (IEEE), vol. 4 (2002) pp. 4114–4119.Google Scholar
Wu, J., Wang, L. and You, Z., “A new method for optimum design of parallel manipulator based on kinematics and dynamics,” Nonlinear Dyn. 61(4), 717–727 (2010).CrossRefGoogle Scholar
Wu, J., Zhang, B. and Wang, L., “A measure for evaluation of maximum acceleration of redundant and nonredundant parallel manipulators,” J. Mech. Robot. 8(2), 021001 (2016).CrossRefGoogle Scholar
Wu, J., Wang, J., Wang, L. and Li, T., “Dynamic formulation of redundant and nonredundant parallel manipulators for dynamic parameter identification,” Mechatronics 19(4), 586–590 (2009).CrossRefGoogle Scholar
Wang, J., Wu, J. Li, T. and Liu, X., “Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy,” Robotica 27(1), 51–57 (2009).CrossRefGoogle Scholar
Saafi, H., Laribi, M. A. and Zeghloul, S., “Forward kinematic model improvement of a spherical parallel manipulator using an extra sensor,” Mech. Mach. Theory 91, 102–119 (2015).Google Scholar
Saafi, H., Laribi, M. A. and Zeghloul, S., “Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: Improving dexterity and eliminating singularity,” Robotica 33(5), 1113–1130 (2015).CrossRefGoogle Scholar
Tursynbek, I. and Shintemirov, A., “Infinite rotational motion generation and analysis of a spherical parallel manipulator with coaxial input axes,” Mechatronics 78, 102625 (2021).Google Scholar
Lahdiri, C., Saafi, H. and Mlika, A., “Working Mode Study of a New Spherical Parallel Manipulator with an Unlimited Self-Rotation Capability,” In: IFToMM International Conference on Mechanisms, Transmissions and Applications (Cham, Springer Nature Switzerland, 2023) pp. 171–179.CrossRefGoogle Scholar
Hernansanz, A., Amat, J. and Casals, A., “Optimization Criterion for Safety Task Transfer in Cooperative Robotics,” In: 2009 International Conference on Advanced Robotics (IEEE, 2009) pp. 1–6.Google Scholar
Wu, J., Wang, J., Li, T., Wang, L. and Guan, L., “Dynamic dexterity of a planar 2-DOF parallel manipulator in a hybrid machine tool,” Robotica 26(1), 93–98 (2008).CrossRefGoogle Scholar
Laribi, M. A., Essomba, T., Zeghloul, S. and Poisson, G., “Optimal Synthesis of a New Spherical Parallel Mechanism for Application to Tele-Echography Chain,” In: International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, vol. 54839 (2011) pp. 579–587.Google Scholar
Enferadi, J. and Nikrooz, R., “The performance indices optimization of a symmetrical fully spherical parallel mechanism for dimensional synthesis,” J. Intell. Robot. Syst. 90(3-4), 305–321 (2018).CrossRefGoogle Scholar
Katoch, S., Chauhan, S. S. and Kumar, V., “A review on genetic algorithm: Past, present, and future,” Multimed. Tools Appl. 80(5), 8091–8126 (2021).CrossRefGoogle ScholarPubMed
Stan, S. D., Manic, M. Balan, R. and Maties, V., “Genetic Algorithms for Workspace Optimization of Planar Medical Parallel Robot,” In: IEEE International Conference on Emerging Trends in Computing, ICETIC (2009) pp. 8–10.Google Scholar
Saafi, H., Laribi, M. A., Arsicault, M. and Zeghloul, S., “Optimal Design of a New Spherical Parallel Manipulator,” In: 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) (IEEE, 2014) pp. 1–6.CrossRefGoogle Scholar
Lahdiri, C., Saafi, H., Mlika, A. and Laribi, M. A., “Forward Kinematic Model Resolution of a New Spherical Parallel Manipulator,” In: The 8th International Symposium on Robotics and Mechatronics, Djerba, Tunisia (2024).Google Scholar