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Fahisal Abdullah
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Preferred name
Fahisal Abdullah
Official Name
Fahisal, Abdullah
Alternative Name
Abdullah, Fahisal
Abdullah, F.
Main Affiliation
Scopus Author ID
47061221100
Researcher ID
CAK-3858-2022
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PublicationKinematic design and analysis of a 2RPS-1PRS parallel manipulator for hospital bed repositioning system( 2023)Hospital Bed Repositioning System (HBRS) has become one of the most important studies to reduce physical injuries among caregivers during patient handling activities. However, hospital bed features, such as adjustable height, boosting, laterally repositioning and turning based on standalone mechanisms are generally ineffective since caregiver needs to frequently adjust the bed to get into the desired position. These frequent repetitions may increase the risk of physical injury of stress among caregiver. In terms of the structured design for the HBRS, the configuration of a parallel manipulator could be an effective approach to integrate these features into one hospital bed design. However, employing the parallel manipulator as a structured design with the ability to integrate specific features into a hospital bed can be a challenging issue due to the limitation of workspace. Hence, the objectives of this study were to develop a kinematics model and to analyse the performance of a parallel manipulator in the HBRS by considering the Trendelenburg, anti-Trendelenburg, repositioning, and height adjustable features. The design and development of the kinematics model based on the Denavit & Hartenberg method for the proposed parallel mechanism of 2RPS (revolute joint-prismatic joint-spherical joint)-1PRS (prismatic joint-revolute joint-spherical joint) was required to examine the functional requirements of the HBRS mechanism. Based on this kinematics model, workspaces and the singularity of the proposed 2RPS-1PRS parallel manipulator were analysed to determine the behaviour of the mechanism. Then, a numerical simulation that was designed using the MATLAB software and the prototype of the hardware mechanism were used to verify the performance of the proposed 2RPS-1PRS parallel manipulator. On specific geometry, the simulation and experimental results, considering the limitations of assembly errors and range of spherical angles, showed a similar trend within 5% error for active and passive joints. This finding highlighted the capability of the integrated features in the HBRS based on the mechanism of the 2RPS-1PRS parallel manipulator, which performed better than the standalone features. The integration of the HBRS features with the novelty of 2RPS-1PRS parallel manipulator offered a simple mechanism that could provide various motions, such as rolling, tilting, and shifting that represent the functional motions of existing hospital beds.