Modeling and Simulation of a New Parallel Robot used in Minimally Invasive Surgery
نویسندگان
چکیده
Surgery is one of the fields where robots have been introduced due to their positioning accuracy which exceed the human capabilities. Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications. In the paper is presented the modeling and simulation of a new parallel robot, based on an innovative structure, used in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The robot kinematics, singular position identification and workspace generation are illustrated. Using the developed virtual model of the parallel robot, some simulation tests are presented.
منابع مشابه
Kinematics Modeling and Simulating of a New Surgical Robot
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 sur...
متن کاملAn Experimental Study on Blinking and Eye Movement Detection via EEG Signals for Human-Robot Interaction Purposes Based on a Spherical 2-DOF Parallel Robot
Blinking and eye movement are one of the most important abilities that most people have, even people with spinal cord problem. By using this ability these people could handle some of their activities such as moving their wheelchair without the help of others. One of the most important fields in Human-Robot Interaction is the development of artificial limbs working with brain signals. The purpos...
متن کاملDesign, Modeling, and Construction of a New Tactile Sensor for Measuring Contact-Force
This paper presents the design, modeling, and testing of a flexible tactile sensor and its applications. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the deflection of the membrane with measuring the strain in the membrane with emb...
متن کاملDesign and Modeling of a New Type of Tactile Sensor Based on the Deformation of an Elastic Membrane
This paper presents the design and modeling of a flexible tactile sensor, capable of detecting the 2D surface texture image, contact-force estimation and stiffness of the sensed object. The sensor is made of polymer materials. It consists of a cylindrical chamber for pneumatic actuation and a membrane with a mesa structure. The inner radius of the cylindrical chamber is 2cm and its outer radius...
متن کاملKinematic and Dynamic Analysis of Tripteron, an Over-constrained 3-DOF Translational Parallel Manipulator, Through Newton-Euler Approach
In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...
متن کامل