Design and control of a simplified Stewart platform for endoscopy

Wendlandt, J.M.; Sastry, S. Shankar

doi:10.1109/cdc.1994.410903

Cited by 23 publications

(14 citation statements)

References 5 publications

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“…In general, these studies are kinematic analysis of the parallel mechanisms (forward / inverse kinematic analysis, [2][3][4][5][6]), dynamic behavior, [7], control, [8][9][10], design of different simulators, [11][12], and manufacturing, [4]. Among these, kinematic analysis, especially, research for mechanisms resulting simpler mathematical solutions to reduce computation time is very significant.…”

Section: Introductionmentioning

confidence: 99%

A stewart platform as a FBW flight control unit for space vehicles

Omurlu

Buyuksahin

Yıldız

et al. 2009

2009 4th International Conference on Recent Advances in Space Technologies

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A variety of flight control units have been put into realization for navigational purposes of spatially moving vehicles, which is mostly manipulated by 2-3 degrees-of-freedom (DOF) joysticks. Since motion in space consists of three translational motions in forward, side and vertical directions and three rotational motions about these axis; with present joystick interfaces, spatial vehicles has to employ more than one navigational control unit to be able to navigate on all required directions. In this study, a 3x3 Stewart-Platform-based FBW (Fly-By-Wire) flight control unit with force feedback is presented which will provide single point manipulation of any space vehicle performing spatial motions along three translational and three rotational axis. Within the frame of this paper, design, capability and the advantages of the novel system is mentioned. Kinematics of the Stewart Platform (SP) mechanism employed and its motion potentials is presented by simulations and workspace of the system is evaluated. Dynamic analysis by Bond-Graph approach will be mentioned. Mechatronic design of the complete structure is discussed and force reflection capability of the system with simulations is pointed out using stiffness control. Finally, the possible future work of the subject is discussed which may include the feasible solutions of the SP in terms of size and safety when implementing inside a cockpit.

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Section: Introductionmentioning

confidence: 99%

A stewart platform as a FBW flight control unit for space vehicles

Omurlu

Buyuksahin

Yıldız

et al. 2009

2009 4th International Conference on Recent Advances in Space Technologies

View full text Add to dashboard Cite

show abstract

“…He also noticed that the layout of the joint centers on the platforms is extremely important: the closer the base is to a triangle, and the platform to a regular hexagon, the less powerful the actuators will have to be. Wendlandt (616) investigates the influence of a spring component on the dynamics equations of a micro-robot. We must also mention the approach of dynamic balancing by Xi (628): the tool holder is used as a counterweight to reduce the changes in the inertia matrix.…”

Section: Introductionmentioning

confidence: 99%

Parallel Robots

2006

Solid Mechanics and Its Applications

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The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids.The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural Published by Springer,

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“…Wendlandt et al [30] demonstrated a platform driven by three tendons actuated by dc motors capable of 90 deflections and a 50-ms step response.…”

Section: B Gastrointestinal Endoscopymentioning

confidence: 99%

Applications of micromechatronics in minimally invasive surgery

Tendick,

Sastry,

Fearing

et al. 1998

IEEE/ASME Trans. Mechatron.

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100

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Abstract-Many surgical procedures are now performed using the techniques of minimally invasive surgery (MIS), in which unnecessary trauma is limited by reducing the size of incisions to less than about 1 cm or by using catheters or endoscopes threaded through vessels, the gastrointestinal tract, or other tubular structures. Micromechatronic technologies have great potential to allow access to regions now inaccessible, or to enhance the surgeon's abilities in applications where current minimally invasive techniques do not permit the full range of human dexterity and perception. Key needs and applications in MIS are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed. The authors' millirobotic system for MIS of the abdomen is used as an example.

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Design and control of a simplified Stewart platform for endoscopy

Cited by 23 publications

References 5 publications

A stewart platform as a FBW flight control unit for space vehicles

A stewart platform as a FBW flight control unit for space vehicles

Parallel Robots

Applications of micromechatronics in minimally invasive surgery

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