Design, kinematics, simulation of omni-directional bending reachability for a parallel structure forceps manipulator

Quanquan Liu, Jie Chen, Shen Shen, Bo Zhang, Masakatsu G. Fujie, Chweeming Lim, Hongliang Ren

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

Abstract

This paper presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, a bendable skeleton (2-DOF for Omni-directional bending motion), and a rotatable forceps gripper (1-DOF for rotation, 1-DOF for opening/closing). The bendable segment in the manipulator achieves two orthogonal bending DOFs by pulling or pushing three parallel universal-joint-based shaft chains. Forward and inverse kinematics of the bendable skeleton is analyzed. The workspace calculation illustrates that the structure of the three parallel shaft chains can reach a bending angle of 90 degree in arbitrarily direction. The reachability of the manipulator is simulated in Adams®. According to the surgical requirements, the manipulator is actuated to draw circle during the tests while the end effector is kept bending at 60 degree. The results show that the end effector can precisely track the planning trajectory (precision within 1 mm).

Original languageEnglish
Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PublisherIEEE Computer Society
Pages371-376
Number of pages6
ISBN (Electronic)9781509032877
DOIs
Publication statusPublished - 2016 Jul 26
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: 2016 Jun 262016 Jun 29

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2016-July
ISSN (Print)2155-1774

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period16/6/2616/6/29

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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