TY - GEN
T1 - Design, kinematics, simulation of omni-directional bending reachability for a parallel structure forceps manipulator
AU - Liu, Quanquan
AU - Chen, Jie
AU - Shen, Shen
AU - Zhang, Bo
AU - Fujie, Masakatsu G.
AU - Lim, Chweeming
AU - Ren, Hongliang
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/7/26
Y1 - 2016/7/26
N2 - This paper presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, a bendable skeleton (2-DOF for Omni-directional bending motion), and a rotatable forceps gripper (1-DOF for rotation, 1-DOF for opening/closing). The bendable segment in the manipulator achieves two orthogonal bending DOFs by pulling or pushing three parallel universal-joint-based shaft chains. Forward and inverse kinematics of the bendable skeleton is analyzed. The workspace calculation illustrates that the structure of the three parallel shaft chains can reach a bending angle of 90 degree in arbitrarily direction. The reachability of the manipulator is simulated in Adams®. According to the surgical requirements, the manipulator is actuated to draw circle during the tests while the end effector is kept bending at 60 degree. The results show that the end effector can precisely track the planning trajectory (precision within 1 mm).
AB - This paper presents a 5-DOF manipulator which consists of three parts, 1-DOF translational joint, a bendable skeleton (2-DOF for Omni-directional bending motion), and a rotatable forceps gripper (1-DOF for rotation, 1-DOF for opening/closing). The bendable segment in the manipulator achieves two orthogonal bending DOFs by pulling or pushing three parallel universal-joint-based shaft chains. Forward and inverse kinematics of the bendable skeleton is analyzed. The workspace calculation illustrates that the structure of the three parallel shaft chains can reach a bending angle of 90 degree in arbitrarily direction. The reachability of the manipulator is simulated in Adams®. According to the surgical requirements, the manipulator is actuated to draw circle during the tests while the end effector is kept bending at 60 degree. The results show that the end effector can precisely track the planning trajectory (precision within 1 mm).
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U2 - 10.1109/BIOROB.2016.7523654
DO - 10.1109/BIOROB.2016.7523654
M3 - Conference contribution
AN - SCOPUS:84983393837
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 371
EP - 376
BT - 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PB - IEEE Computer Society
T2 - 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
Y2 - 26 June 2016 through 29 June 2016
ER -