Abstract
This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Based on the concept of virtual chain and screw theory, previous endoscopic parallel manipulators are deeply investigated to put their synthesis in a systematic rigorous procedure that helps in proposing the new 4-DOF endoscopic parallel manipulator. The inverse and forward kinematics solutions are derived analytically and numerically respectively. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). Four linear motors are used to drive the mechanism. The performance is investigated through simulation by ADAMS software. Dexterous workspace is obtained and this validates the advantageous bending capability of the new proposed manipulator compared to previous ones.
| Original language | English |
|---|---|
| Title of host publication | International Conference on Control, Automation and Systems |
| Pages | 688-693 |
| Number of pages | 6 |
| Publication status | Published - 2012 |
| Event | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju Duration: 2012 Oct 17 → 2012 Oct 21 |
Other
| Other | 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 |
|---|---|
| City | Jeju |
| Period | 12/10/17 → 12/10/21 |
Fingerprint
Keywords
- Kinematics analysis and Endoscopic manipulator
- Parallel manipulator
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Science Applications
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Design and workspace analysis of a new endoscopic parallel manipulator. / Ibrahim, Khalil; Ramadan, Ahmed; Fanni, M.; Kobayashi, Yo; Abo-Ismail, A. A.; Fujie, Masakatus G.
International Conference on Control, Automation and Systems. 2012. p. 688-693 6393270.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design and workspace analysis of a new endoscopic parallel manipulator
AU - Ibrahim, Khalil
AU - Ramadan, Ahmed
AU - Fanni, M.
AU - Kobayashi, Yo
AU - Abo-Ismail, A. A.
AU - Fujie, Masakatus G.
PY - 2012
Y1 - 2012
N2 - This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Based on the concept of virtual chain and screw theory, previous endoscopic parallel manipulators are deeply investigated to put their synthesis in a systematic rigorous procedure that helps in proposing the new 4-DOF endoscopic parallel manipulator. The inverse and forward kinematics solutions are derived analytically and numerically respectively. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). Four linear motors are used to drive the mechanism. The performance is investigated through simulation by ADAMS software. Dexterous workspace is obtained and this validates the advantageous bending capability of the new proposed manipulator compared to previous ones.
AB - This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Based on the concept of virtual chain and screw theory, previous endoscopic parallel manipulators are deeply investigated to put their synthesis in a systematic rigorous procedure that helps in proposing the new 4-DOF endoscopic parallel manipulator. The inverse and forward kinematics solutions are derived analytically and numerically respectively. The known problem of limited bending angles was solved in the proposed manipulator as it can reach ± 90° in any direction. The proposed manipulator consists of four legs; two legs are 2-PUU (each leg consists of one active prismatic joint and two passive hook joints); the other two legs are 2-PUS (each leg consists of one active prismatic join, one passive hook joint and one passive spherical joint). Four linear motors are used to drive the mechanism. The performance is investigated through simulation by ADAMS software. Dexterous workspace is obtained and this validates the advantageous bending capability of the new proposed manipulator compared to previous ones.
KW - Kinematics analysis and Endoscopic manipulator
KW - Parallel manipulator
UR - http://www.scopus.com/inward/record.url?scp=84872594387&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872594387&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9781467322478
SP - 688
EP - 693
BT - International Conference on Control, Automation and Systems
ER -