Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery
| Autor: | Rao Kun, Xu Shijie, Tengfei Ding, Wen-ao Cao |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0106 biological sciences
0209 industrial biotechnology Computer science Mechanical Engineering Degrees of freedom (statistics) 02 engineering and technology Kinematics 01 natural sciences Computer Graphics and Computer-Aided Design Computer Science Applications Computer Science::Robotics Mechanism (engineering) 020901 industrial engineering & automation Mechanics of Materials Control theory Invasive surgery Displacement (orthopedic surgery) 010606 plant biology & botany |
| Zdroj: | Journal of Mechanical Design. 141 |
| ISSN: | 1528-9001 1050-0472 |
| DOI: | 10.1115/1.4043583 |
| Popis: | A novel two degree-of-freedom (2-DOF) parallel mechanism with remote center-of-motion (RCM) is proposed for minimally invasive surgical applications in this paper. A surgical manipulator with expected three-rotation and one-translation (3R1T) outputs can be obtained by serially connecting a revolute pair (R) and a prismatic pair (P) to the mechanism. First, kinematics of the new mechanism is analyzed and the corresponding velocity Jacobin matrix is established. Then, singularity identification of the mechanism is performed based on screw theory. Further, main dimensions of the mechanism are designed, and a physical prototype is developed to verify the effectiveness of executing RCM. The proposed mechanism has relatively simple kinematics, and can obtain a noninterference and nonsingularity cone workspace with the top angle of 60 deg based on a compact structure. |
| Databáze: | OpenAIRE |
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