The concept of a medical robot constructed by parallel mechanisms for chest compressions in rescuing a patient is proposed in this paper. In light of the requirements of cardiopulmonary resuscitation (CPR) from medical aspects, a new translational parallel manipulator employing the architecture of DELTA parallel robot is designed, which utilizes an architectural optimization methodology for suc...

In order to identify the dynamic parameters in nonlinear adaptive control the robot's dynamic equation has to be written in a linear form. Many methods have been proposed for serial robots, but for parallel robots, the few solutions proposed so far lead to complicated equations that are not readily usable for real-time implementation. In this paper we propose a new method based on the virtual w...

This paper presents a neural network approach with successful implementation for the robot task-sequencing problem. The problem addresses the sequencing of tasks comprising loading and unloading of parts into and from the machines by a material-handling robot. The performance criterion is to minimize a weighted objective of the total robot travel time for a set of tasks and the tardiness of the...

In order to improve the control precision and robustness of the existing proportion integration differentiation (PID) controller of a 3-Revolute–Revolute–Revolute (3-RRR) parallel robot, a variable PID parameter controller optimized by a genetic algorithm controller is proposed in this paper. Firstly, the inverse kinematics model of the 3-RRR parallel robot was established according to the vect...

The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of t...

In this paper, the problem of control and stabilization of a bilateral tele-surgery roboticsystem in interaction with an active soft tissue is considered. To the best of the authors’ knowledge, theprevious works did not consider a realistic model for a moving soft tissue like heart tissue in beating heartsurgery. Here, a new model is proposed to indicate significant characteristics of a moving ...

This paper presents an IG3PR-VRI, a novel Virtual Reality (VR) interface for the control of the Isoglide3 Parallel Robot (IG3PR), an effective robotic device with three degrees of freedom manipulation. The IG3PR manipulator introduced in [24], offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construction on one hand, while on the othe...

An ankle rehabilitation robot has been conceptualized and designed to realize the range of motion, muscle strengthening and proprioception training exercises for ankle joint. The robotic device is intended to help patients and therapists in their cooperative efforts for the treatment of impaired ankle joint as a result of injury or stroke. After analyzing the ankle joint anatomy and its motions...

The inconvenience of laparoscopic operations lies mainly in the difficulties in mutual understanding between the surgeon and the camera assistant that manoeuvres the laparoscope camera according to the surgeon’s instructions .Another problem arises when the operation had to be performed for many hours.[1] In these cases the camera image tends to become unsteady due to fatigue of the camera assi...

Abstract Without excellent system uptime and profit margins, many manufacturing systems will not be able to continue operating. Strong business performance of companies is facilitated by availability generation. Most are set up in series–parallel, parallel-series, or hybrid configurations. In this present study, we analyze a series–parallel composed two subsystems with the following specificati...