A Novel Microsurgical Robot with Double-Parallelogram RCM Mechanism and Back-Driven Instrument Translation

Chen, Hsing-Chi; Su, Wei-Jiun; Chen, Cheng-Wei

doi:10.1016/j.ifacol.2020.12.353

Cited by 6 publications

(3 citation statements)

References 12 publications

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“…Another important application of double prismatic joints is in the assembly of big, complicated structures like airplane wings in the aerospace sector [24,77,78]. Moreover, they are frequently employed in the automobile sector for activities like painting and welding etc.…”

Section: Literature Reviewmentioning

confidence: 99%

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Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Ballous

Messaoud

Al-Shabi

2023

Unmanned Systems Technology XXV

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Robotic manipulators involve the motion in 3D space. The motion of the manipulator is usually done through rotational movements using rotational joints, and/or through translational movements using prismatic joints. In this work, a prismatic-prismatic robotic arm is modeled in a matrix form and then it is simulated through MATLAB©. The simulation solves the dynamic of the system numerically. The motion of the manipulator's end-effector of the double prismatic joints is observed.

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Section: Literature Reviewmentioning

confidence: 99%

“…Furthermore, the medical sector frequently employs double prismatic autonomous manipulators for procedures like surgery and therapy [77,82,83]. The ability to control the manipulator's flexible and precise end-effector is utilized to guarantee the patient's safety and wellbeing during medical operations.…”

Section: Literature Reviewmentioning

confidence: 99%

Modelling and simulation of a prismatic: prismatic robotic arm manipulator

Ballous

Messaoud

Al-Shabi

2023

Unmanned Systems Technology XXV

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“…This is significantly influenced by the synchronized movement [5] of two toggle mechanisms. If a mathematical model of the press mechanism [6] is established, multi-objective optimization will be available. The aim of this research is to determine the kinematic relationship between the input and output links of innovative [7] parallel transfer mechanism.…”

Section: Introductionmentioning

confidence: 99%

Kinematic analysis of parallel transfer mechanism

Kronbergs

Smits

2023

22nd International Scientific Conference Engineering for Rural Development Proceedings

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The parallel transfer mechanism (patent LV 15506B) consists of links in form of two parallelograms with one common horizontal link and parallel to it opposite links of equal length, and the links of side edges of the parallelograms the lengths of which are equal in pairs, respectively. The common link of the parallelograms is formed as a guide for a slider to which two links are connected corresponding to the lengths of the side edge links of the parallelograms. The other ends of these elements are connected to the side edge links forming a rhomboid contour. The links of this planar linkage are connected by pin joints. For cyclic operation of the parallel transfer mechanism the hydraulic actuator is connected to the slider and attached to the common link. If the lower parallelogram link is the ground link, the output link will be the upper link, which parallel transfer movement will be ensured. The purpose of the work is kinematic analysis of this innovative mechanism. The side members with a length of 0.5 m and a hydraulic actuator with a speed 0.2 m·s-1 of movement are selected as a sample of the mechanism. Kinematic parameters as displacement, velocity and acceleration of the upper output link were determined using the Mathcad program for an idealized mechanism ignoring friction. These maximum values were 1 m, 0.985 m·s-1 and 0.508 m·s-2 accordingly. If the displacement of the output link is reduced, avoiding singularities and ensuring stability of mechanism, the maximum displacement, velocity and acceleration values will be reduced to 0.65 m, 0.55 m·s-1 and 0.10 m·s-2, accordingly. By changing the input parameters, it is possible using this Mathcad calculation method to obtain the values of the kinematic parameters for other size mechanisms.

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