Kinematic analysis and control of limited 4-DOF parallel manipulator based on screw theory

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

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

6 Citations (Scopus)

Abstract

This paper describes the development of a dexterous endoscopic parallel manipulator for laparoscopic surgery using rigid mechanism. Endoscopic parallel manipulator is developed based on the concept of virtual chain and screw theory. The inverse and forward kinematics solutions are derived analytically and numerically respectively. Also the singularity analysis is investigated. 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). The virtual prototype of the parallel mechanism was constructed in ADAMS. The kinematics simulation of the virtual prototype was realized. Four linear motors are used to drive the mechanism. The intuitive simulations with the combination of MATLAB/Simulink and ADAMS show that the control performance of kinematics analysis is satisfactory.

Original languageEnglish
Title of host publicationConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Pages47-52
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012 - Seoul
Duration: 2012 Oct 142012 Oct 17

Other

Other2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012
CitySeoul
Period12/10/1412/10/17

Keywords

  • kinematics analysis
  • modeling simulation
  • parallel maipulator

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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