ABSTRACT

This report describes the conceptual design and development of a parallel manipulator for neck motion assist for
the patients suffering from paralysis. As the number of neurological disorder cases in the world is surging
perpetually, there is an increasing need for ergonomically designed manipulators for the purposes of rehabilitation
and restoring motion of the human neck. To design and develop the parallel manipulator for paralysis patients,
we have taken references from the Stewart platform mechanism. In this report, we have mentioned in detail about
the sketches, actuators, preliminary CAD model, Direct and Inverse Kinematics of the parallel manipulator and
Static analysis of the manipulator. To achieve our objective, a conceptual 2 degrees-of-freedom Revolute-
Prismatic-Spherical configuration parallel robot with 4 extensible links has been modelled, analysed without
taking force in consideration and with taking static force in consideration. We have assumed the jaw support piece
and the head support piece as the output link of the manipulator and both the chest piece as the fixed base of the
manipulator. Based on our literature study, we have assumed that the forces applied on the manipulator are
quasistatic. The parallel manipulator is modelled using Siemens NX 12 software and analysed using MATLAB
software. As per the current studies, range of orientation of the output link has been achieved up to 20 degrees
about the rolling axis, -10 degrees to +10 degrees about the pitching axis and -10 degrees to +10 degrees about
the yaw axis. We plan to update the design in order to increase the range of orientation of the parallel manipulator,
select the control system (Arduino UNO), and work on the experimental study as well.

Theory

3-DOF RPS Parallel manipulator

A 3-DOF RPS Parallel manipulator is also known as Stewart platform. It comprises of a top plate, a bottom
plate, and three connecting links.

• The top plate is also known as the moving platform or the output link of the manipulator.
• The bottom plate is the fixed plate and it is considered as the base platform of the whole mechanism.
• Connecting links consist of revolute joint at the base, prismatic joints and spherical pair at the top.

It is assumed that the prismatic joints are the actuated joints while the revolute and spherical joints are considered
as passive joints. Active joints are the actuated joints and passive joints are unactuated joints in a parallel robot.
As all the joints are not actuated in a parallel manipulator, we can take any passive joints.

Frame assignment for the 3-DOF RPS parallel manipulator

• As both the top and moving plates are equilateral triangles, we can assume the base coordinate frame at
the centroid of the fixed equilateral triangles.
• {L1}, {L2}, and {L3} coordinate frames are taken at the base of each leg of the connecting links at joints
R1, R2 and R3 in such a way that there is just translation between the fixed base frame and {L1}, {L2},
and {L3} coordinate frames.
• Second coordinate frame is taken at the spherical joints S1, S2 and S3 joints.
• 𝐵𝑎𝑠𝑒 [𝑇]𝐿𝑖 is a constant and known.
• DH-parameters for the first leg with respect to {L1} coordinate frame can be written as:

i α(i-1) a(i-1) d(i) θ(i)

1 0 0 0 𝞥1
2 -(ᴨ/2) 0 l1 0

• The frame transformation matrices are given by:

𝐶1 𝑆1 0 0 1 0 0 0
𝑆1 𝐶1 0 0 0 0 1 𝑙1
[𝑇]𝐵1 = [ ] 1[𝑇]2 = [ ]
0 0 1 0 0 −1 1 0
0 0 0 1 0 0 0 1
The transformation matrix 2[T]S1 is an identity matrix as {S1} is located at the centre of the spherical joint and
parallel to {2}.
The transformation matrix L1[T]S1 is obtained by multiplying the above transformation matrices with an identity
matrix. The transformation matrix Base[T]S1 is given by:

Base[T]S1 = Base[T]L1 * L1[T]S1

• We get position of S1, S2 and S3 with respect to base as:

𝑏 − 𝑙1𝑐𝑜𝑠𝜃1
𝐵𝑎𝑠𝑒[𝑆]1 = [ 0 ]
𝑙1𝑠𝑖𝑛𝜃1
𝑏
− + 𝑙2𝑐𝑜𝑠𝜃2
2
𝐵𝑎𝑠𝑒[𝑆]2 = 𝑏 𝑙2
√3 ∗ − √3 ∗ ∗ 𝑐𝑜𝑠𝜃2
2 2
[ 𝑙2𝑠𝑖𝑛𝜃2 ]
𝑏
− + 𝑙3𝑐𝑜𝑠𝜃3
2
𝐵𝑎𝑠𝑒[𝑆]2 = 𝑏 𝑙3
√3 ∗ − √3 ∗ ∗ 𝑐𝑜𝑠𝜃3
2 2
[ 𝑙3𝑠𝑖𝑛𝜃3 ]

Direct Kinematics of a 3-DOF RPS parallel manipulator

• All the connecting link dimensions and values of n actuated joint variables are already given in direct
kinematics problems.
• It is done to find out the position and orientation of the output link.
• To solve the direct kinematics problem, we need to obtain m-passive joint variables first by solving m-
loop closure constraint equations by using Sylvester’s dialytic method.

‖Base𝑆1 − Base𝑆2 ‖ = 𝑘12

‖Base𝑆2 − Base𝑆3 ‖ = 𝑘23

‖Base𝑆3 − Base𝑆1 ‖ = 𝑘31

• Position of the centroid of the moving platform is given by:

𝐵𝑎𝑠𝑒𝑷 = 1/3 (𝐵𝑎𝑠𝑒𝑺𝟏 + 𝐵𝑎𝑠𝑒𝑺𝟐 + 𝐵𝑎𝑠𝑒𝑺𝟑)

• Then, find out the orientation of the moving platform.

Mobility of parallel manipulators

For parallel manipulators and closed-loop kinematic chain, knowledge of the possible range of motion of the
actuated joint is required for control of the parallel manipulator.

Mobility of parallel robots is defined as the number of independent joint parameters (𝑚) required to determine the
position of a point situated on any element of the mechanism and is calculated by using Kutzbach criterion.

For spatial robots,

m = 6(n-1) - 5j1 - 4j2 – 3j3 – 2j4 – j5

For planar robots,

m = 3(n-1) – 2j1 – j2

where j is number of joints with i degree of freedom

Inverse kinematics of a 3-DOF RPS parallel manipulator

• Link parameters are known in inverse kinematics problem.

• Position and orientation of the output link are also given in inverse kinematics problem.
• Need to find out active and passive joint variables
• To solve the inverse kinematics problem, break the mechanism into serial chains and obtain the joint
angles of each chain in parallel.
• Breaking of loops with redundant chains should be avoided.