Dynamic modeling of a parallel robot.: Application to a surgical simulator.

被引：0
|
作者：
Leroy, N [1 ]
Kökösy, AM [1 ]
Perruquetti, W [1 ]
机构：
[1] Ecole Cent Lille, CNRS, UMR 8021, LAIL, F-59651 Villeneuve Dascq, France
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a closed form solution for the dynamic model of a parallel robot. This robot is utilized like a haptic interface for a surgical simulator used in the amnicentesis operation. The dynamic model is obtained by using the Lagrange formulation applied to parallel robot. It is proved that for a large class of parallel robots which has some properties, it is possible to avoid the explicit calculation of Lagrange multipliers. The aim is to simplify the calculation for a real-time application.
引用
收藏
页码：4330 / 4335
页数：6
相关论文
共 50 条
  • [41] INVESTIGATION OF MASS TRANSFER BETWEEN PARALLEL STREAMS IN A TWO-CELL ROD-BUNDLE SIMULATOR.
    Yefimov, V.A.
    Korol'kov, B.M.
    Sakovich, Ye.V.
    Fluid mechanics. Soviet research, 1982, 11 (04): : 8 - 14
  • [42] Surgical approach to right colon cancer: From open technique to robot. State of art
    Fabozzi, Massimiliano
    Cirillo, Pia
    Corcione, Francesco
    WORLD JOURNAL OF GASTROINTESTINAL SURGERY, 2016, 8 (08): : 564 - 573
  • [43] Modeling and Control of a Spherical Robot in the CoppeliaSim Simulator
    Montenegro, Guelis
    Chacon, Roberto
    Fabregas, Ernesto
    Garcia, Gonzalo
    Schroder, Karla
    Marroquin, Alberto
    Dormido-Canto, Sebastian
    Farias, Gonzalo
    SENSORS, 2022, 22 (16)
  • [44] Dynamic Modeling and Analysis of Serial-parallel Hybrid Quadruped Bionic Robot
    Wang X.
    Jin Z.
    Li X.
    Liu X.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2019, 50 (04): : 401 - 412
  • [45] Dynamic Modeling of 3-RPS Parallel Robot Considering Joint Friction
    Zhang Y.
    Jin P.
    Gong J.
    Liu Q.
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2018, 49 (09): : 374 - 381
  • [46] Dynamic modeling and driving force coordinate distribution of the parallel robot with redundant actuation
    Dou, Yuchao
    Yao, Jiantao
    Gao, Sihui
    Han, Xing
    Liu, Xiaofei
    Zhao, Yongsheng
    Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery, 2014, 45 (01): : 293 - 300
  • [47] Dynamic Modeling and Optimization of Tension Distribution for a Cable-Driven Parallel Robot
    Wang, Kai
    Hu, Zhong Hua
    Zhang, Chen Shuo
    Han, Zhi Wei
    Deng, Chao Wen
    APPLIED SCIENCES-BASEL, 2024, 14 (15):
  • [48] Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses
    Gherman, Bogdan
    Pisla, Doina
    Vaida, Calin
    Plitea, Nicolae
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2012, 28 (03) : 402 - 415
  • [49] Modeling cost/performance of a parallel computer simulator
    Falsafi, Babak
    Wood, David A.
    ACM Transactions on Modeling and Computer Simulation, 1997, 7 (01): : 104 - 130
  • [50] Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine
    Zarkandi, Soheil
    ROBOTICA, 2022, 40 (03) : 646 - 671
12345