Abstract
The paper presents the singularity analysis of a spherical robot with parallel architecture. This robot has been designed for the upper limb rehabilitation. Thus, singularity analysis is carried out for validating the robotic structure to the motion needs of the rehabilitation exercises. Singularities are derived from the forward kinematics using the Study parameters of SE(3) and the near singularity poses are evaluated in order to determine the motion capabilities in the whole robot workspace. A simulated motion is presented near the robot singular configuration.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Robotics 2020 Multi-Annual Roadmap, Call 2 ICT24 (2015) – Horizon 2020 (2015)
Stein, J.: Robotics in rehabilitation: technology as destiny. Am. J. Phys. Med. Rehab. 91(11) (Supplement 3), S199–S203 (2012)
Reinkensmeyer, D.J., Boninger, M.L.: Technologies and combination therapies for enhancing movement training for people with a disability. J. Neuroeng. Rehab. (2011)
Plitea, N., Vaida, C., Carbone, G., Pisla, A., Ulinici, I., Pisla, D.: On the kinematics of an innovative spherical parallel robot for shoulder rehabilitation. In: Carvalho, J., Martins, D., Simoni, R., Simas, H. (eds.), Multibody Mechatronic Systems. MuSMe 2017. Mechanisms and Machine Science, vol. 54. Springer, Cham (2017)
Vaida, C., Carbone, G., Maior, K., Maior, Z., Plitea, N., Pisla, D.: On human robot interaction modalities in the upper limb rehabilitation after stroke. ACTA TECHNICA NAPOCENSIS, Appl. Math. Mech. Eng. 60(I) (2017)
Vaida, C., Carbone, G., Plitea, N., Pisla, D.: Preliminary design for a spherical parallel robot for shoulder rehabilitation. In: The 12th IFToMM International Symposium on Science of Mechanisms and Machines—SYROM 2017. Iaşi, România, 02–03 November, 2017
Vaida, C., Pisla, D., Schadlbauer, J., Husty, M., Plitea, N.: Kinematic analysis of an innovative medical parallel robot using Study parameters. In: New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol. 39, pp. 85–99. Springer (2016)
Birlescu, I., Tucan, P., Gherman, B., Vaida, C., Crisan, N., Radu, C., Plitea, N., Pisla, D.: Kinematic analysis for a prostate biopsy parallel robot using Study parameters. In: Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham (2018)
Husty, M., Pfurner, M., Schroecker, H.-P., Brunnthaler, K.: Algebraic methods in mechanism analysis and synthesis. Robotica 25(6), 661–675 (2007)
Drake, R., et al.: Gray’s Anatomy for students. 2 edn Churchill Livingstone, Elsevier. pp. 910–912. eBook ISBN: 9781437720556 (2009)
Vaida, C., Plitea, N., Pisla, D., Carbone, G., Gherman, B., Ulinici, I.: Spherical robot for the medical rehabilitation of the proximal area of the upper limb. OSIM patent pending: A00374/14.06.2017 (2017)
Acknowledgements
The paper presents results from the research activities of the project ID 37_215, MySMIS code 103415 “Innovative approaches regarding the rehabilitation and assistive robotics for healthy ageing” cofinanced by the European Regional Development Fund through the Competitivness Operational Programme 2014–2020, Priority Axis 1, Action 1.1.4, through the financing contract 20/01.09.2016, between the Technical University of Cluj-Napoca and ANCSI as Intermediary Organism in the name and for the Ministry of European Funds.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Birlescu, I., Vaida, C., Pisla, A., Carbone, G., Pisla, D. (2019). Singularity Analysis of a Spherical Robot Used in Upper Limb Rehabilitation. In: Kecskeméthy, A., Geu Flores, F., Carrera, E., Elias, D. (eds) Interdisciplinary Applications of Kinematics. Mechanisms and Machine Science, vol 71. Springer, Cham. https://doi.org/10.1007/978-3-030-16423-2_19
Download citation
DOI: https://doi.org/10.1007/978-3-030-16423-2_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-16422-5
Online ISBN: 978-3-030-16423-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)