http://digital.csic.es/bitstream/10261/30526/1/doc1.pdf

3D collision detection: a survey

The evolution of the major achievements in water lifting devices with emphasis on the major technologies over the centuries is presented and discussed. Valuable insights into ancient water lifting technologies with their apparent characteristics of durability, adaptability, and sustainability are provided. A comparison of the relevant technological developments in several early civilizations is carried out. These technologies are the underpinning of modern achievements in water engineering. They represent the best paradigm of probing the past and facing the future. A timeline of the historical development of water pumps worldwide through the last 5500 years of the history of mankind is presented. A chronological order is followed with emphasis on the major civilizations.

https://www.mdpi.com/2073-4441/7/9/5031/pdf

Evolution of Water Lifting Devices (Pumps) over the Centuries Worldwide

A comprehensive survey of the analytical, numerical and experimental methodologies for dynamics of multibody mechanical systems with clearance or imperfect joints

Goal Additive manufacturing, also known as 3D printing, has begun to play a significant role in the field of medical devices. This review aims to provide a comprehensive overview and classification of additively manufactured medical instruments for diagnostics and surgery by identifying medical and technical aspects. Methods A scientific literature search on additively manufactured medical instruments was conducted using the Scopus database. Results We categorized the relevant articles (71) by considering the novelty of each proposed instrument and its clinical application. Then, we analyzed the relevant articles by examining the reasons behind choosing additive manufacturing technology to produce instruments for diagnostics and surgery. Possible customization (27%) and Cost-effectiveness (23%) were the main reasons expressed. Technical specifications of the additive manufacturing technology and the material used were also analyzed, and a tendency of using material extrusion technology (35% of the applications) and polymeric materials (86% of the applications) was shown. Conclusions Additive manufacturing is opening the door to a new approach in the production of medical devices, which allows the complexity of their designs to be pushed to the extreme. However, we found that technical limitations need to be tackled and important aspects such as sterilization or debris contamination are still not considered to be relevant factors during the design and fabrication process. Keeping in mind the challenges of such a new field, additive manufacturing technology can be considered as a great opportunity to provide easy access to healthcare in developing countries as well as an important step toward patient-specific medicine.

Additive manufacturing of medical instruments : A state-of-the-art review

A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing

Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace

A combined genetic algorithm-fuzzy logic method (GA-FL) in mechanisms synthesis

This paper deals with the analysis of a spherical parallel manipulator (3RCC) to determine the error on the pose of the end effector as a function of the manufacturing errors of the different links and the presence of a clearance in the joints. The obtained model allowed us to identify the error on the platform in three cases, i.e., only manufacturing errors were considered, then only clearance in the joints was considered and finally the case of both sources of error were present in the system. It was shown, in particular, that the axial displacement in the C joints is quite important. The second result is the fact that the superposition principle does not work when we consider both the manufacturing errors and the clearance despite the assumption of small displacements.

Clearance and manufacturing errors' effects on the accuracy of the 3-RCC Spherical Parallel Manipulator

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a haptic minimally invasive surgery application. First the medical task was characterized with the help of a surgeon who performed a suture technique called anastomosis. A Vicon system was used to capture the motion of the surgeon, which yielded the volume swept by the tool during the anastomosis operation. The identified workspace can be represented by a cone with a half vertex angle of 26°. A multi objective optimization procedure based on genetic algorithms was then carried out to find the optimal SPM. Two criteria were considered, i.e., task workspace and mechanism dexterity. The optimized SPM was then analyzed to determine the error on the orientation of the end effector as a function of the manufacturing errors of the different links of the mechanism.

Synthesis of spherical parallel manipulator for dexterous medical task

A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.

Said Zeghloul

Papers

Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace

A combined genetic algorithm-fuzzy logic method (GA-FL) in mechanisms synthesis

Clearance and manufacturing errors' effects on the accuracy of the 3-RCC Spherical Parallel Manipulator

Synthesis of spherical parallel manipulator for dexterous medical task

Multiple point contact gripper