Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery

被引：26
|
作者：
Pisla, Doina [1 ]
Gherman, Bogdan [1 ]
Vaida, Calin [1 ]
Plitea, Nicolae [1 ]
机构：
[1] Tech Univ Cluj Napoca, Memorandumului 28, RO-400114 Cluj Napoca, Romania
来源：
ROBOTICA | 2012年 / 30卷
关键词：
Parallel hybrid robot; Minimally invasive surgery; Kinematics; Simulation; ASSISTANT; SYSTEM; ENDOASSIST; DESIGN; AESOP;
D O I：
10.1017/S0263574711001299
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.
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页码：1095 / 1107
页数：13
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