Kinematic analysis and dynamic control of a 3-PUU parallel manipulator for cardiopulmonary resuscitation

The concept of a medical parallel manipulator applicable to chest compression in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirement of CPR action, a three-prismatic-universal-universal (3-PUU) translational parallel manipulator (TPM) is designed for such applications. And a thorough analysis involving the issues of kinematics, dynamics, and control have been performed for the 3-PUU TPM. Not only the inverse and forward kinematics problems are solved in closed-form, but also the Jacobian matrix is derived analytically, along with the manipulator workspace generated in view of the physical constraints imposed by mechanical joints. Based on the principle of virtual work with a simplifying hypothesis adopted, the dynamic modeling is performed, and dynamic control utilizing computed torque method is implemented, at last the simulation results illustrate the well performance of the control algorithm. The research work provide a sound base for the development of a medical manipulator to assist in CPR operation