Design and workspace analysis of a new endoscopic parallel manipulator

Khalil Ibrahim, Ahmed Ramadan, M. Fanni, Yo Kobayashi, A. A. Abo-Ismail, Masakatus G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

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 languageEnglish
Title of host publicationInternational Conference on Control, Automation and Systems
Pages688-693
Number of pages6
Publication statusPublished - 2012
Event2012 12th International Conference on Control, Automation and Systems, ICCAS 2012 - Jeju
Duration: 2012 Oct 172012 Oct 21

Other

Other2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
CityJeju
Period12/10/1712/10/21

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

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  • Cite this

    Ibrahim, K., Ramadan, A., Fanni, M., Kobayashi, Y., Abo-Ismail, A. A., & Fujie, M. G. (2012). Design and workspace analysis of a new endoscopic parallel manipulator. In International Conference on Control, Automation and Systems (pp. 688-693). [6393270]