Design and control of a 3-DOF hydraulic driven surgical instrument
نویسندگان
چکیده
منابع مشابه
Path Planning of a 3 DOF Servo-Hydraulic Mechanism Using Genetic Algorithm
The objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as...
متن کاملdesign and control of a 3 dof hand skeleton for rehabilitation after stroke
stroke is one of the most common diseases among the elderly with high personal and societal costs. in recent years, robotic rehabilitation for stroke has become an active area of research for assistance, monitoring and qualifying the rehabilitation treatments. the key issue needed for improving rehabilitation system is that patient feedback should be taken into account by the robotic rehabilita...
متن کاملDesign and Application of a 3 DOF Bionic Robot Arm
Regarding to concrete industrial applications, we examined the functionality and the systematic design of a bionic robot arm developed and driven by biologically inspired principles. Based on a laboratory model a scalable multi-bodydynamics-simulation model has bin developed. Although it is driven by elastically coupled linkages which require additional control efforts for oscillation damping, ...
متن کاملDesign and Analysis of 4-DOF Cable-Driven Parallel Mechanism
The design and analysis of a 4-DOF multi-link cable driven parallel mechanism is presented. In contrast to many existing cable driven parallel mechanism, the proposed manipulator’s rigid links are serially articulated. This design preserves the advantages associated with cabledriven parallel mechanisms, and introduces the advantages in having a serial kinematic structure. The kinematic and kine...
متن کاملA planar parallel 3-DOF cable-driven haptic interface
In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Current Directions in Biomedical Engineering
سال: 2015
ISSN: 2364-5504
DOI: 10.1515/cdbme-2015-0036