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Kinematics analysis, workspace, design and control of 3-RPS and TRIGLIDE medical parallel robots

机译：3-RPS和TRIGLIDE医用并行机器人的运动学分析，工作区，设计和控制

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Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.

机译：并联机器人在人机交互，医疗机器人，康复，外骨骼等领域都有许多应用。这些应用程序具有许多必要条件，其中以鲁棒的精度和动态工作空间计算为最终要求。本文介绍了3自由度（DOF）并行机器人的运动学分析，工作空间，设计和控制。并行机器人由于具有高刚度，低惯性和高速能力的潜力，在过去几年中受到研究人员和制造商的相当大的关注。因此，三自由度平移并联机器人在人机交互中的实际应用提供了很高的潜力和良好的前景。

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《Human System Interactions, 2009. HSI '09》|2009年|103-108|共6页
会议地点 Catania(IT);Catania(IT)
作者
Verdes D.; Stan S.-D.; Manic M.; Balan R.; Maties V.;
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作者单位

Dept. of Mechatron., Tech. Univ. of Cluj-Napoca, Cluj-Napoca;

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control system analysis; control system synthesis; medical robotics; mobile robots; robot kinematics; robust control; 3 degrees-of-freedom; 3-RPS; TRIGLIDE medical parallel robot control; dynamic workspace computation; kinematics analysis; robust precision; 3 degrees of freedom; Triglide parallel robot; design; kinematics; workspace;

机译：控制系统分析;控制系统综合;医疗机器人技术;移动机器人;机器人运动学;鲁棒控制; 3自由度; 3-RPS; TRIGLIDE医疗并行机器人控制;动态工作区计算;运动学分析;鲁棒精度; 3度自由度; Triglide并联机器人;设计;运动学;工作区;

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专利

1. Influence of design parameters on the singularities and workspace of a 3-RPS parallel robot [J] . Jha Ranjan, Chablat Damien, Baron Luc Transactions of the Canadian Society for Mechanical Engineering . 2018,第1期

机译：设计参数对三rps并联机器人奇点和工作区的影响
2. DESIGN, WORKSPACE ANALYSIS AND INVERSE KINEMATICS PROBLEM OF DELTA PARALLEL ROBOT [J] . Szep C., Stan S. -D., Csibi V. Mechanika . 2011,第3期

机译：DELTA并联机器人的设计，工作空间分析和逆运动学问题
3. Kinematics investigation, workspace analysis and actuators design for a 2-dof redundant parallel robot [J] . Rad C.-R., Rusu C., Bǎlan R. Diffusion and Defect Data. Solid State Data, Part B. Solid State Phenomena . 2010,第Null期

机译：2-dof冗余并行机器人的运动学调查，工作区分析和执行器设计
4. Kinematics analysis, Workspace, Design and Control of 3-RPS and TRIGLIDE medical parallel robots [C] . Dan Verdes, Sergiu-Dan Stan, Milos Manic, Conference on Human System Interactions . 2009

机译：3-RPS和Triglide医学并行机器人的运动学分析，工作区，设计和控制
5. Design and Control of Kinematically Redundant Robots for Maximizing Failure-Tolerant Workspaces [D] . Bader, Ashraf M. 2021

机译：用于最大化故障宽容工作空间的运动学冗余机器人的设计与控制
6. Retracted: Design and Workspace Analysis of a Parallel Ankle Rehabilitation Robot (PARR) [O] . Journal of Healthcare Engineering 2021

机译：缩回：平行脚踝康复机器人的设计和工作区分析（PARR）
7. Workspace and joint space analysis of the 3-RPS parallel robot [O] . Chablat, Damien, Jha, Ranjan, Rouillier, Fabrice, 2014

机译：3-RPS并联机器人的工作空间和关节空间分析

Kinematics analysis, workspace, design and control of 3-RPS and TRIGLIDE medical parallel robots

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