Kinematics Modeling and Simulating of a New Surgical Robot
نویسنده
چکیده
This paper introduced design analysis of a new 5DOF surgical robot used for minimally invasive surgery. The kinematics modeling is studied by solving the forward and inverse kinematics of the robot using the Denavit-Hartenberg convention and geometrical method. Robot kinematics simulation is built by creating the 3D CAD model of the robot and patient, then a kinematic motion simulation of a surgery path tracking is done using CATIA kinematics workbench. The forward and inverse kinematics mathematical models are validated through CATIA simulation models. The comparison results confirm that the kinematics mathematical models of the surgical robot are correct.
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