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*

*この研究の対応する著者

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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).

本文言語English
ホスト出版物のタイトル2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
出版社IEEE Computer Society
ページ371-376
ページ数6
ISBN(電子版)9781509032877
DOI
出版ステータスPublished - 2016 7 26
イベント6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
継続期間: 2016 6 262016 6 29

出版物シリーズ

名前Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
2016-July
ISSN(印刷版)2155-1774

Other

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

ASJC Scopus subject areas

  • 人工知能
  • 生体医工学
  • 機械工学

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