This paper proposes a two translational and two rotational (2T2R) four-degrees-of-freedom (DOF) parallel kinematic mechanism (PKM) designed as a knee rehabilitation and diagnosis mechatronics system. First, we establish why rehabilitation devices with 2T2R motion are required, and then, we review previously proposed parallel mechanisms with this type of motion. After that, we develop a novel proposal based on the analysis of each kinematic chain and the Grübler–Kutzbach criterion. Consequently, the proposal consists of a central limb with revolute-prismatic-universal (RPU) joints and three external limbs with universal-prismatic-spherical (UPS) joints. The Screw theory analysis verifies the required mobility of the mechanism. Also, closed-loop equations enable us to put forward the closed-form solution for the inverse-displacement model, and a numerical solution for the forward-displacement model. A comparison of the numerical results from five test trajectories and the solution obtained using a virtual prototype built in msc-adams shows that the kinematic model represents the mechanism's motion. The analysis of the forward-displacement problem highlights the fact that the limbs of the mechanism should be arranged asymmetrically. Moreover, the Screw theory makes it possible to obtain the Jacobian matrix which provides insights into the analysis of the mechanism's workspace. The results show that the proposed PKM can cope with the required diagnosis and rehabilitation task. The results provide the guidelines to build a first prototype of the mechanism which enables us to perform initial tests on the robot.
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December 2017
Research-Article
Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks
Pedro Araujo-Gómez,
Pedro Araujo-Gómez
Laboratorio de Mecatrónica y Robótica,
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
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Vicente Mata,
Vicente Mata
Centro de Investigación en,
Ingeniería Mecánica,
Universitat Politècnica de València,
Valencia 46022, Spain
Ingeniería Mecánica,
Universitat Politècnica de València,
Valencia 46022, Spain
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Miguel Díaz-Rodríguez,
Miguel Díaz-Rodríguez
Laboratorio de Mecatrónica y Robótica,
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
e-mail: dmiguel@ula.ve
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
e-mail: dmiguel@ula.ve
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Angel Valera,
Angel Valera
Instituto Universitario de Automática,
e Informática Industrial,
Universitat Politècnica de València,
Valencia 46022, Spain
e Informática Industrial,
Universitat Politècnica de València,
Valencia 46022, Spain
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Alvaro Page
Alvaro Page
Grupo de Tecnología Sanitaria del IBV,
CIBER de Bioingeniería, Biomateriales,
y Nanomedicina (CIBER-BBN),
Universitat Politècnica de València,
Valencia 46022, Spain
CIBER de Bioingeniería, Biomateriales,
y Nanomedicina (CIBER-BBN),
Universitat Politècnica de València,
Valencia 46022, Spain
Search for other works by this author on:
Pedro Araujo-Gómez
Laboratorio de Mecatrónica y Robótica,
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
Vicente Mata
Centro de Investigación en,
Ingeniería Mecánica,
Universitat Politècnica de València,
Valencia 46022, Spain
Ingeniería Mecánica,
Universitat Politècnica de València,
Valencia 46022, Spain
Miguel Díaz-Rodríguez
Laboratorio de Mecatrónica y Robótica,
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
e-mail: dmiguel@ula.ve
Facultad de Ingeniería,
Universidad de los Andes,
Mérida 5101, Venezuela
e-mail: dmiguel@ula.ve
Angel Valera
Instituto Universitario de Automática,
e Informática Industrial,
Universitat Politècnica de València,
Valencia 46022, Spain
e Informática Industrial,
Universitat Politècnica de València,
Valencia 46022, Spain
Alvaro Page
Grupo de Tecnología Sanitaria del IBV,
CIBER de Bioingeniería, Biomateriales,
y Nanomedicina (CIBER-BBN),
Universitat Politècnica de València,
Valencia 46022, Spain
CIBER de Bioingeniería, Biomateriales,
y Nanomedicina (CIBER-BBN),
Universitat Politècnica de València,
Valencia 46022, Spain
1Corresponding author.
Manuscript received February 4, 2017; final manuscript received August 9, 2017; published online September 18, 2017. Assoc. Editor: Marcia K. O'Malley.
J. Mechanisms Robotics. Dec 2017, 9(6): 061004 (10 pages)
Published Online: September 18, 2017
Article history
Received:
February 4, 2017
Revised:
August 9, 2017
Citation
Araujo-Gómez, P., Mata, V., Díaz-Rodríguez, M., Valera, A., and Page, A. (September 18, 2017). "Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061004. https://doi.org/10.1115/1.4037800
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