Development of rigid manipulators for Minimally Invasive Surgery (MIS) becomes essential to replace wire driven manipulators which are problematic due to possible cutting of the wire during the surgery. In this paper, a 4-DOF dexterous endoscopic parallel manipulator for MIS is designed and implemented. The manipulator is developed based on the concept of virtual chain and screw theory. The manipulator consists of four links; two links are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two links are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The inverse and forward kinematics solutions are derived analytically and numerically, respectively. The singularity analysis is investigated using screws algebra. The manipulator workspace is obtained using MATLAB software. The known problem of limited bending angles found in previous existing surgical manipulators was solved as the proposed manipulator can reach ± 90o in any direction. The proposed surgical manipulator is designed, manufactured and tested successfully. The system model utilizing PID and PI controllers has been built using MATLAB software. Co-simulation using ADAMS/ MATLAB software is implemented to validate the achieved bending angles and the proposed tracking control. The results show that the performance of the tracking control is satisfactory since the tracking error is about 2.5%.

Development of rigid manipulators for Minimally Invasive Surgery (MIS) becomes essential to replace wire driven manipulators which are problematic due to possible cutting of the wire during the surgery. In this paper, a 4-DOF dexterous endoscopic parallel manipulator for MIS is designed and implemented. The manipulator is developed based on the concept of virtual chain and screw theory. The manipulator consists of four links; two links are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two links are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). The inverse and forward kinematics solutions are derived analytically and numerically, respectively. The singularity analysis is investigated using screws algebra. The manipulator workspace is obtained using MATLAB software. The known problem of limited bending angles found in previous existing surgical manipulators was solved as the proposed manipulator can reach ± 90o in any direction. The proposed surgical manipulator is designed, manufactured and tested successfully. The system model utilizing PID and PI controllers has been built using MATLAB software. Co-simulation using ADAMS/ MATLAB software is implemented to validate the achieved bending angles and the proposed tracking control. The results show that the performance of the tracking control is satisfactory since the tracking error is about 2.5%.

, a view to evaluate the fracture energy of concrete and to study the fracture and localization process, it is described herein this study an experimental investigation. Fracture energy for the early ages of concrete is estimated experimentally considering the weather of Kingdome of Saudi Arabia. Several experiment specimens of different ages, sizes, lengths and end head specimens are prepared and assessed. The specimens in early age are tested out to calculate the fracture energy of concrete using a direct tension test, taking into consideration the loss of energy due to the frictional process in the mechanism of experimental set up. Also the crack localization is considered during the experiment, as dealing with the localized fracture. In this experiment work, the measurements reach to the post peak softening branch of concrete using the direct tension.

, a view to evaluate the fracture energy of concrete and to study the fracture and localization process, it is described herein this study an experimental investigation. Fracture energy for the early ages of concrete is estimated experimentally considering the weather of Kingdome of Saudi Arabia. Several experiment specimens of different ages, sizes, lengths and end head specimens are prepared and assessed. The specimens in early age are tested out to calculate the fracture energy of concrete using a direct tension test, taking into consideration the loss of energy due to the frictional process in the mechanism of experimental set up. Also the crack localization is considered during the experiment, as dealing with the localized fracture. In this experiment work, the measurements reach to the post peak softening branch of concrete using the direct tension.