Search

Your search keyword '"Central Scientific Instruments Organisation (CSIR)"' showing total 3 results
Start Over Author "Central Scientific Instruments Organisation (CSIR)" Topic [info.info-rb]computer science [cs]/robotics [cs.ro]
3 results on '"Central Scientific Instruments Organisation (CSIR)"'

1. Stacked Tensegrity Mechanism for Medical Application

Author

Dhruva Khanzode, Ranjan Jha, Emilie Duchalais, Damien Chablat, Central Scientific Instruments Organisation (CSIR), Centre hospitalier universitaire de Nantes (CHU Nantes), Robotique Et Vivant (LS2N - équipe ReV), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Nantes Université (Nantes Univ), Oscar Altuzarra - Andrés Kecskeméthy, and Bruno Siciliano - Oussama Khatib

Subjects
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
Abstract

International audience; In this article a multi-segmented planar tensegrity mechanism was presented. This mechanism has a three-segment structure with each segment residing on top of another. The size of the segments may decrease proportionally from base to top, resulting in a tapered shape from base to tip like an elephant trunk. The system was mechanically formulated as having linear springs and cables functioning as actuators. The singularities, as well as the stability of the parallel mechanism, were analyzed by using the principle of minimum energy. Optimization was also done to obtain the greatest angular deflection for a segment according to a ratio between the size of the base and the moving platform of the robotic system. The result of this work is a family of mechanisms that can generate the same workspace for different stability properties.

Published
2022

2. Workspace analysis in the design parameter space of a 2-DOF spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery

Author

Ranjan Jha, Swaminath Venkateswaran, Philippe Bordure, Guillaume Michel, Damien Chablat, Robotique Et Vivant (ReV), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), Centre hospitalier universitaire de Nantes (CHU Nantes), École Centrale de Nantes (ECN), and Central Scientific Instruments Organisation (CSIR)

Subjects
0209 industrial biotechnology, Computer science, Motion (geometry), Bioengineering, [SDV.MHEP.CHI]Life Sciences [q-bio]/Human health and pathology/Surgery, 02 engineering and technology, Kinematics, Workspace, Parallel robot, Computer Science::Robotics, Otologic Surgery, 020901 industrial engineering & automation, 0203 mechanical engineering, Control theory, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Cusp points, Spherical Mechanism, Mechanical Engineering, Parallel manipulator, Computer Science Applications, Mechanism (engineering), 020303 mechanical engineering & transports, Mechanics of Materials, Robot, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Gravitational singularity, Singularities, Parallelogram
Abstract

International audience; During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space. This mechanism is composed of three legs (2USP-U) to connect the base to a moving platform connected to a double parallelogram to create a remote center of motion (RCM). Its kinematic properties, i.e. the singularity locus and the number of direct kinematic solutions, are investigated. For some design parameters, non-singular assembly modes changing trajectories may exist and have to be investigated inside the prescribed regular workspace shape. Two sets of design parameters are presented with their advantages and disadvantages.

Published
2021

3. The 3-PPPS parallel robot with U-shape Base, a 6-DOF parallel robot with simple kinematics

Author

Ranjan Jha, Damien Chablat, Luc Baron, Luc Rolland, Laboratoire des Sciences du Numérique de Nantes (LS2N), Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT), Robotique Et Vivant (ReV), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), École Polytechnique de Montréal (EPM), Central Scientific Instruments Organisation (CSIR), University of the West of Scotland (UWS), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), and Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Singularity, Computer science, Parallel manipulator, 02 engineering and technology, Kinematics, Workspace, 021001 nanoscience & nanotechnology, 6 DOF Parallel robot, Euler angles, Computer Science::Robotics, symbols.namesake, 020901 industrial engineering & automation, Control theory, Orientation (geometry), symbols, Robot, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Kinematic model, 0210 nano-technology, Quaternion, ComputingMethodologies_COMPUTERGRAPHICS
Abstract

International audience; One of the main problems associated with the use of 6 DOF parallel robots remains the solving of their kinematic models. This is rarely possible to analytically solve their models thereby justifying the application of numerical methods. These methods are difficult to implement in an industrial controller and can cause solution bifurcations close to singularities resulting in following an unplanned trajectory. Recently, a 3-PPPS robot with U-shaped base was introduced where an analytical kinematic model can be derived. Previously, quaternion parameters were used to represent the orientation of the mobile platform. To allow for simpler model handling, this article introduces the use of Euler angles which have a physical meaning for the users. Compact writing of the direct and inverse kinematic model is thus obtained. Using algebraic and cylindrical decomposition for the workspace, this provides a simpler representation of the largest domain without singularity around the " home " configuration.

Published
2018

Catalog

Books, media, physical & digital resources
See catalog results