Design Controller and Fibrication of 5R Parallel Robot For biopsy

operation

MOHAMMAD GOHARI

Faculty of Mechanical

Engineering

Arak University of

Technology, IRAN

ZAHRA SOLEYMANIAN

Faculty of Mechanical

Engineering

Arak University of

Technology, IRAN

FAHIMEH FOROUTAN

Faculty of Mechanical

Engineering

Arak University of

Technology, IRAN

MONA TAHMASEBI

Agri. Eng. Res. Edu.Ext.

Org. (AREEO) ARAK,

IRAN

Abstract: - Todays, robots are used instead of labors in dangerous environments for long term by more accuracy. Some of them are

made as serial arms and rest of them has parallel, configuration. In design of robot, after main configuration, kinematic and dynamic

analysis are main steps. By having them controller design is possible. Also, kinematic inverse and dynamic inverse analysis is

essential for main processes. parallel robots are employed widely in many applications due to their properties related to geometry.

5R robot is one of them which is utilized in sorting and engraving. Current paper presents a PI controller for this robot which was

designed by coupling SolidWorks and MATLAB software to simulate kinematic of robot. It will be used in medicine injection in

next work. Finally, a test rig of robot was fabricated in lab for accuracy assessment. It includes two servomotors which is controlled

by Arduino as DAQ. The stability of robot in terms of trajectory control was reach properly.

Keywords: —component, formatting, style, styling, insert

Received: August 8, 2021. Revised: October 26, 2022. Accepted: November 16, 2022. Published: December 31, 2022.

1. Introduction

Robots are designed and used widely in many areas. They must

be robust, accurate and reliable ]1 [ . A new application of robot

is employing them in medical operations. Due to accuracy of

robots, they can be used in biopsy, needle interventions, surgery

etc. Two types of mechanisms are employed for robot design;

closed chain and open chain mechanism. The stiffness is low in

open chain robots, and required torque is high ]2[. In opposite

of serial robots, parallel robots are used without stated

disadvantages [3-5]. Some investigations were carried out to

develop parallel robots ]6-8[. In addition, payload capacity,

stiffness and stability are higher in parallel manipulators, but

singularity is important in this case]8-10[.

Cancer is disease which early diagnosis of that is very important

to solve problem, and precise drug delivery and biopsy of

suspected tissue is vital issue. By biopsy sampling, a piece of

target tissue is taken away for analysis in pathology lab.

Commonly, this procedure is applied by manually insertion

device via X-ray imaging for better control of sampling of

focused organ tissue. Instead, human hand controlling biopsy

tool, robotic methods can provide higher accuracy and

robustness via stiff manipulators which are stable during

operation. In addition, biopsy equipped by robotic technique

provide trajectory monitoring of needle by imaging approaches

such as ultrasound, computed tomography, and magnetic

resonance etc.

Currently, biopsy by robot is available for these organs: brain

[11], prostate [12], bone [13], breast [14], lung and liver [15and

16]. Moreover, some treatments such thermal ablation is

possible by needle device during insertion in suspected tissue

[15]. Thus, robotic biopsy is not invasive operation as much as

traditional surgery for biopsy.

Firstly, a PUMA robot was utilized for sampling by biopsy

needle under compute tomography (CT) vision [17]. In

continue of this achievement, a commercial robot for surgery is

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS,

COMPUTATIONAL SCIENCE AND SYSTEMS ENGINEERING

DOI: 10.37394/232026.2022.4.12

Mohammad Gohari, Zahra Soleymanian,

Fahimeh Foroutan,Mona Tahmasebi

E-ISSN: 2766-9823

Volume 4, 2022

introduced and named Da Vinci Robotic System. Pore and

cones of this robot is reported in terms of accuracy during

operations [18 and 19].

The vital point in robotic interventions is generating straight

line during penetration biopsy tool and controlling of trajectory

is possible by imaging methods. Current work is continuing of

the previous efforts of this team in robotics and using AI in

mechanical applications [20-25].

This paper is focused on design and fabrication a robot for

intervention to take sample by biopsy method. Next, the

performance of robot is studied by simulation and lab

experiments.

2. Methodology

To establish a robotized biopsy tool, first step is design of

proper robot for this purpose. Thus, based on such requirements

robot must be designed:

- It must to have minimum vibration trough

intervention

- It must provide accessibility in 3D work space for

operator to reach suspected organ

- The controller must be robust and simple for

operator

Regards to stated points, 5R parallel robot is selected because

it has two joints to the ground, and its accuracy for creating

complex trajectories is high. Extra degree of freedom is added

to it to provide rotation around horizontal axis. Initially,

forward and inverse kinematic of robot are mentioned in

continue. Next, simulation result and lab experiments for

assessment of robot are described.

2.1 Forward and Inverse Kinematic

First, 5R parallel robot which is shown in Fig.1 is considered.

It includes links ( ,  ) and active joints ( , 󰇜. Also,

passive joints ( ، ) and 󰇛󰇜 are considered in Oxy

coordinate system.

Fig.1 configuration of 5R robot

P1and P2 can be presented in direct kinematic by:

󰇛󰇜

󰇛󰇜

And created circle by collision of them will be:

(1)

󰇛󰇛󰇜󰇜󰇛󰇜



(2)

󰇛󰇛󰇜󰇜󰇛󰇜

By extending Equation 1, and definition parameters such as ,

 ,  as following:







 can be obtain as bellow:

(3)



















Next, by extending equation 2 and definition parameters such as

 ,  ,  as following:









 will be known as:



















Thus, inverse kinematic is available for make relation between

input angles and end effector (E). These equations are necessary

in simulation of robot especially in controller design [4-6].

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS,

COMPUTATIONAL SCIENCE AND SYSTEMS ENGINEERING

DOI: 10.37394/232026.2022.4.12

Mohammad Gohari, Zahra Soleymanian,

Fahimeh Foroutan,Mona Tahmasebi

E-ISSN: 2766-9823

Volume 4, 2022

2.2 Design PID Controller

After deriving inverse kinematic of 5R robot, mechanism was

modelled in Solid Works Software with 0.0844m, 0.1m, and

0.2m for  , , , respectively. Next, coupling between

SolidWorks Software and MATLAB was applied. Fig.2

illustrates simulated 5R Robot. X and Y were input as end-

effector trajectory to produce circle in E point. Gains of PID

reached by MATLAB as Kp=1 and Ki=1, so PI controller is

proper for this purpose based on Equation 4.



 



 (4)

Fig.2 5R robot modelled by Solid Works Software

3. Results and Discussion

The end effector trajectory was obtained as Fig.3. as can be seen,

in first part of output trajectory, there is some instability, but

quickly error was rejected by PI controller. In addition, variation

of angle of active joints are unveiled in Fig.4 and 5.

Fig.3 trajectory of end effector

Fig.4 variations of 

Fig.5 variations of 

Having variations of active joints help us to selecting

servomotors in next step. Also, optimization of geometry is

related to them [9,10]. In future work, we try to fabricate this

robot for medicine injection in biomechanics application.

By reaching to PID controller parameters, a DAQ (Arduino) was

programmed and used for controlling 5R robot. This robot is

shown in Fig.6. The accuracy of robot in trajectory is studied,

and error is around 5%.

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS,

COMPUTATIONAL SCIENCE AND SYSTEMS ENGINEERING

DOI: 10.37394/232026.2022.4.12

Mohammad Gohari, Zahra Soleymanian,

Fahimeh Foroutan,Mona Tahmasebi

E-ISSN: 2766-9823

Volume 4, 2022

Fig.6 5R robot which was fabricated

4. Conclusion

In this paper configuration of 5R parallel robot were studied

by kinematic and dynamic analysis. The Results of simulation

and fabricated robot evaluation show that the accuracy of

controller is acceptable in terms of trajectory control for the

proposed path. The kinematic model which was developed used

in controller design could present behavior of motion perfectly.

Also, the error of position controller was in standard margin. In

future work, it aims to use it for biopsy operation for medical

purposes.

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Mohammad Gohari, Zahra Soleymanian,

Fahimeh Foroutan,Mona Tahmasebi

E-ISSN: 2766-9823

Volume 4, 2022

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INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS,

COMPUTATIONAL SCIENCE AND SYSTEMS ENGINEERING

DOI: 10.37394/232026.2022.4.12

Mohammad Gohari, Zahra Soleymanian,

Fahimeh Foroutan,Mona Tahmasebi

E-ISSN: 2766-9823

Volume 4, 2022

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