Abstract
Robotic manipulanda are often used to investigate human motor control of arm movements, as well as for tasks where haptic feedback is useful, e.g., in computer-aided design and in the teleoperation of robotic arms. Here we present the design and implementation of a small, low-cost, torque controlled 3DOF revolute manipulandum which supports translational movement in three-dimensions. All bespoke structural components are 3D printed and the arm lengths are constructed from carbon fiber tubes, which exhibit high stiffness but are very light, resulting in a design that exhibits a low intrinsic endpoint mass at the handle. We use rare-earth BLDC motors employing built-in low-ratio planetary-gearboxes, so the system is back-drivable and arm endpoint force can be controlled. We provide an analysis and simulation in MATLAB of the arm’s forward and inverse kinematics, as well as its static motor torque and endpoint force relationships. We used a microcontroller to operate the motors over their CAN interfaces. Finally, we demonstrate the use of the manipulandum as a robot for general point-to-point movement tasks using a microcontroller implementation of its inverse kinematics.
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
References
Shadmehr, R., Mussa-Ivaldi, F.A.: Adaptive representation of dynamics during learning of a motor task. J. Neurosci. 14(5), 3208–3224 (1994)
Hogan, N., Krebs, H.I.: Interactive robots for neuro-rehabilitation. Restor. Neurol. Neurosci. 22(3–5), 349–358 (2004)
Krebs, H.I., Hogan, N., Aisen, M.L., Volpe, B.T.: Robot-aided neurorehabilitation. IEEE Trans. Rehabil. Eng. 6(1), 75–87 (1998)
Howard, I.S., Ingram, J.N., Wolpert, D.M.: A modular planar robotic manipulandum with end-point torque control. J. Neurosci. Methods 181(2), 199–211 (2009). https://doi.org/10.1016/j.jneumeth.2009.05.005
Massie, T.H., Salisbury, J.K.: The phantom haptic interface: a device for probing virtual objects. In: Proceedings of the ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. 55, no. 1, pp. 295–300, Chicago, IL (1994)
Van der Linde, R.Q., Lammertse, P., Frederiksen, E., Ruiter, B.: The HapticMaster, a new high-performance haptic interface. In: Proceedings of Eurohaptics, Edinburgh University, pp. 1–5 (2002)
Bartenbach, V., et al.: The biomotionbot: a robotic device for applications in human motor learning and rehabilitation. J. Neurosci. Methods 213(2), 282–297 (2013)
Clavel, R.: Conception d’un robot parallèle rapide à 4 degrés de liberté. In: EPFL (1991)
Grant, D.: Two new commercial haptic rotary controllers. In: Proceedings of Eurohaptics, p. 451. Citeseer (2004)
Demers, J.-G., Boelen, J., Sinclair, I.: Freedom 6s force feedback hand controller. IFAC Proceedings Volumes 31(33), 115–120 (1998)
Salcudean, S.E., Stocco, L.: Isotropy and actuator optimization in haptic interface design. In: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065), vol. 1, pp. 763–769. IEEE (2000)
Stocco, L.J., Salcudean, S.E., Sassani, F.: Optimal kinematic design of a haptic pen. IEEE/ASME Trans. Mechatron. 6(3), 210–220 (2001)
Forsslund, J., Yip, M., Sallnäs, E.-L.: Woodenhaptics: a starting kit for crafting force-reflecting spatial haptic devices. In: Proceedings of the Ninth International Conference on Tangible, Embedded, and Embodied Interaction, pp. 133–140 (2015)
Hayward, V., Choksi, J., Lanvin, G., Ramstein, C.: Design and multi-objective optimization of a linkage for a haptic interface. In: Lenarčič, J., Ravani, B. (eds.) Advances in Robot Kinematics and Computational Geometry, pp. 359–368. Springer, Dordrecht (1994). https://doi.org/10.1007/978-94-015-8348-0_36
Hayward, V., Astley, O.R.: Performance measures for haptic interfaces. In: Giralt, G., Hirzinger, G. (eds.) Robotics research: The Seventh International Symposium, pp. 195–206. Springer, Cham (1996). https://doi.org/10.1007/978-1-4471-1021-7_22
Tan, H.Z., Srinivasan, M.A., Eberman, B., Cheng, B.: Human factors for the design of force-reflecting haptic interfaces. Dyn. Syst. Control 55(1), 353–359 (1994)
Howard, I.S.: Design and prototyping of a low-cost light weight fixed-endpoint orientation planar Cobot. In: 2022 International Conference on System Science and Engineering (ICSSE), pp. 047–054. IEEE (2022)
Di Natale, M., Zeng, H., Giusto, P., Ghosal, A.: Understanding and Using the Controller Area Network Communication Protocol: Theory and Practice. Springer, Cham (2012). https://doi.org/10.1007/978-1-4614-0314-2
Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Motion control. Robot. Model. Plann. Control 303–361 (2009)
Lynch, K.M., Park, F.C.: Modern Robotics. Cambridge University Press, Cambridge (2017)
Wannasuphoprasit, W., Gillespie, R.B., Colgate, J.E., Peshkin, M.A.: Cobot control. In: Proceedings of International Conference on Robotics and Automation, vol. 4, pp. 3571–3576. IEEE (1997)
Colgate, J.E., Wannasuphoprasit, W., Peshkin, M.A.: Cobots: robots for collaboration with human operators. In: Proceedings of the 1996 ASME International Mechanical Engineering Congress and Exposition (1996)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2023 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Howard, I.S. (2023). Design and Kinematic Analysis of a 3D-Printed 3DOF Robotic Manipulandum. In: Iida, F., Maiolino, P., Abdulali, A., Wang, M. (eds) Towards Autonomous Robotic Systems. TAROS 2023. Lecture Notes in Computer Science(), vol 14136. Springer, Cham. https://doi.org/10.1007/978-3-031-43360-3_19
Download citation
DOI: https://doi.org/10.1007/978-3-031-43360-3_19
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-43359-7
Online ISBN: 978-3-031-43360-3
eBook Packages: Computer ScienceComputer Science (R0)