Optimal synthesis of a new spherical parallel mechanism for application to tele-echography chain

M. A. Laribi, T. Essomba, S. Zeghloul, G. Poisson

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This paper considers the practice of a tele-echography through a new slave holder robot for a remote echographic diagnostic application. This robot is integrated in a master-slave system called 'Robotic Platform for an Interactive Tele-echographic System'(PROSIT ANR French national project). The proposed approach is based on motion capture of an expert's gestures during the echography examination. The medical gestures were analyzed in terms of positions and velocities; the result has been used in the definition of the kinematics specifications of the proposed manipulator. The effective workspace size of a standard echography act, done by the medical expert, is determined through an experimental study. The evaluation of the workspace is based on the use of the Vicon Nexus motion capture system. The spherical parallel mechanism (SPM) has been selected because of its characteristics meeting the constraint requirements. In addition this architecture offers an excellent stiffness, high precision and is light weight. The design problem of a new parallel probe-holder robot according to the identified experimental workspace for the tele-echography system is presented. In this work, in order to increase the workspace volume of the manipulator, a minimal set of geometrical parameters of spherical parallel manipulators are optimized to find the maximum workspace. Seven independent design parameters have been identified. The optimal synthesis of spherical parallel manipulators is performed using a real-coded genetic algorithm(GA) based method. An optimal study of the orientation workspace is also presented.

Original languageEnglish
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages579-587
Number of pages9
EditionPARTS A AND B
DOIs
StatePublished - 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: 28 Aug 201131 Aug 2011

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume6

Conference

ConferenceASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Country/TerritoryUnited States
CityWashington, DC
Period28/08/1131/08/11

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