Algorithm to Determine the Volume and Shape of Constant Orientation Workspace for a 2(3-RRPS) Parallel Robot

Liu

Contrast Media & Molecular Imaging

2022

In order to explore the application of intelligent intravenous drug dispensing robot in clinical nursing, the efficiency, residual amount, needle pushing, and pulling times, the incidence of accidental hand stab injury and the accuracy of drug dispensing were compared and observed between intelligent intravenous drug dispensing robot and manual dispensing. The study found that the sterile powder residual amount of injection is pointed out in the standard, the drug label is not equipped with ≤50 mg, and the residual limit is ≤ 15%; the lamination is 50–150 mg, the residual amount is limited to ≤10%; the marking is 150–500 mg, the residual amount is ≤ 7%; the marking is 500 mg, the residual amount is limited to ≤5%; 6 months of artificial deployment accidental stab ergonomics occur; without this phenomenon when using the drug-like robot, 6 months internal use of the pharmaceutical robot, 4 times of error occurrence, and errors occurred 60 times. During the clinical intravenous infusion dispensing process, the use of intelligent vein is used to configure the robot, improve the efficiency of the drug, reduce the incidence of drug residual, reduce the incidence of dispensing, increase the accuracy and safety of venous liquidation, and decrease to some extent professional injury caused by drug formulation for liquid nurses.

Section: Discussionmentioning

confidence: 99%

Application of Intelligent Intravenous Drug Dispensing Robot in Clinical Nursing

Liu

Contrast Media & Molecular Imaging

2022

“…The workspace for the manipulator under study can be obtained by following the procedure described in [21], [22]. An example is depicted in Fig 3.…”

Section: Topology Of the Uncoupled Parallel Manipulatormentioning

confidence: 99%

Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory

et al. 2022

Self Cite

In this contribution, the Jacobian analysis of a four-legged six-degrees-of-freedom decoupled parallel manipulator is carried out through the screw theory. As an intermediate step, for the sake of completeness the inverse/forward displacement analysis as well as the computation of the workspace of the robot are achieved by taking advantage of the decoupled orientation and position of the moving platform. Afterward, the input/output equation of velocity of the parallel robot is obtained by harnessing of the properties of reciprocal screw systems. Once the Jacobian matrices are identified and investigated, the analysis of singularities for the robot manipulator emerges as a natural application of the Jacobian analysis. Numerical examples are included with the purpose to show the practicality and versatility of the method of kinematic analysis. Furthermore, the numerical results obtained by means of the theory of screws are successfully verified with the aid of commercially available software like ADAMS.INDEX TERMS Kinematics, Parallel robot, Screw theory, Singular posture, Uncoupled kinematics.

“…The measurement space of the AACMM can be defined as all areas in space that can be detected by the probe when the measuring machine is in normal operation [10]. The methods of solving the measurement space usually include an analytical method [11], graphic method [12,13] and numerical method [14]. Among these, the analytical and graphical methods are more complicated to solve the workspace of the multi-degreeof-freedom mechanism.…”

Section: Simulation Analysis Of Measurement Spacementioning

confidence: 99%

Research on improving the measurement accuracy of the AACMM based on indexing joint

Wang¹,

Wen²,

Xu³

et al. 2021

Meas. Sci. Technol.

In order to improve the measurement accuracy of articulated arm coordinate-measuring machines (AACMMs), a new kind of AACMM based on an indexing joint structure is proposed in this paper. The working principle of the indexing joint is introduced, and a kinematic model of the measuring machine is established based on this principle. The influence weight of the angle error for each joint on the measurement accuracy is analyzed by simulations, and the changes in the accuracy, measurement space and flexibility of the measuring machine before and after adopting the indexing joint are compared. The results show that the use of the indexing joint can effectively improve the measurement accuracy of the AACMM, and the replacement of the first two joints with the indexing joints has the most obvious improvement effect on the measurement accuracy, and has little influence on the measurement space and flexibility. The indexing joint-based AACMM can provide a new idea for the research of improving the measuring accuracy of the AACMM.