Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery

Download or Read online Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery full book in PDF, ePub and kindle by Chin-Hsing Kuo and published by Unknown which was released on 08 August 2022 with total pages 572. We cannot guarantee that Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery book is available in the library.

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery
Author :
Publisher : Unknown
Release Date :
ISBN : OCLC:757402041
Pages : 572 pages
Rating : /5 ( users)
DOWNLOAD

Download or Read Online Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery in PDF, Epub and Kindle

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a crucial design challenge for surgical robots. Although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) parallel robot with RCM function is still highly anticipated. This thesis, therefore, is devoted to the structural synthesis and applications of decoupled parallel robots for minimally invasive surgery. Firstly, for identifying the kinematic design requirements in MIS task, a comprehensive review to the kinematic design for MIS robots is provided. Then, the structural synthesis of serial manipulators subject to specific motion constraints is presented, leading that an approach for the structural synthesis of parallel manipulators using motion constraint generator is developed. For achieving the motion decouplebility, the decoupled design of such motion-constraint-generator-based parallel manipulators is followed. Accordingly, a class of novel multi-DOF fully decoupled parallel manipulators, including the fully decoupled 4-DOF RCM parallel robot, is concluded. Next, for studying the special kinematics of the synthesized manipulators, position analysis of two decoupled parallel manipulators is illustrated, from which both inverse and direct kinematics solutions are derived. In addition, a unified method for the Jacobian analysis of the parallel manipulators using motion constraint generator is put forward for identifying the configuration singularity of the manipulators. Finally, a novel decoupled 4-DOF RCM parallel manipulator for minimally invasive surgery is proposed, for which the motion decouplebility, position kinematics, configuration singularity and surgical geometry for MIS task are verified.

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a crucial design challenge for surgical robots. Although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) parallel robot with RCM function is still highly anticipated. This thesis, therefore, is devoted

DOWNLOAD
A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework.

DOWNLOAD
Parallel Robots

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book

DOWNLOAD
Advances in Reconfigurable Mechanisms and Robots I

Advances in Reconfigurable Mechanisms and Robots I provides a selection of key papers presented in The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2012) held on 9th -11th July 2012 in Tianjin, China. This ongoing series of conferences will be covered in this ongoing collection of books.

DOWNLOAD
Fundamentals of Mechanics of Robotic Manipulation

This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The

DOWNLOAD
Parallel Kinematics

Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses

DOWNLOAD
Advances in Robot Kinematics 2016

This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both

DOWNLOAD
Type Synthesis of Parallel Mechanisms

This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this

DOWNLOAD
New Advances in Mechanism and Machine Science

This volume presents the proceedings of the 12th IFToMM International Symposium on Science of Mechanisms and Machines (SYROM 2017), that was held in "Gheorghe Asachi” Technical University of Iasi, Romania, November 02-03, 2017. It contains applications of mechanisms in several modern technical fields such as mechatronics and robotics, biomechanics, machines and apparatus.

DOWNLOAD
New Advances in Mechanisms  Transmissions and Applications

The Second Conference on Mechanisms, Transmissions and Applications - MeTrApp 2013 was organised by the Mechanical Engineering Department of the University of the Basque Country (Spain) under the patronage of the IFToMM Technical Committees Linkages and Mechanical Controls and Micromachines and the Spanish Association of Mechanical Engineering. The aim of the

DOWNLOAD
New Trends in Mechanism Science

After two succesful conferences held in Innsbruck (Prof. Manfred Husty) in 2006 and Cassino in 2008 (Prof Marco Ceccarelli) with the participation of the most important well-known scientists from the European Mechanism Science Community, a further conference was held in Cluj Napoca, Romania, in 2010 (Prof. Doina Pisla) to discuss new developments in

DOWNLOAD
Theory of Applied Robotics

The second edition of this book would not have been possible without the comments and suggestions from students, especially those at Columbia University. Many of the new topics introduced here are a direct result of student feedback that helped refine and clarify the material. The intention of this book was

DOWNLOAD
Robotics and Automation Handbook

As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error. The Robotics and Automation Handbook addresses the major aspects of

DOWNLOAD
Symmetry in Mechanical Engineering

Recent advancements in mechanical engineering are an essential topic for discussion. The topics relating to mechanical engineering include the following: measurements of signals of shafts, springs, belts, bearings, gears, rotors, machine elements, vibration analysis, acoustic analysis, fault diagnosis, construction, analysis of machine operation, analysis of smart-material systems, integrated systems, stresses,

DOWNLOAD
Multibody Mechatronic Systems

This volume contains the Proceedings of MUSME 2014, held at Huatulco in Oaxaca, Mexico, October 2014. Topics include analysis and synthesis of mechanisms; dynamics of multibody systems; design algorithms for mechatronic systems; simulation procedures and results; prototypes and their performance; robots and micromachines; experimental validations; theory of mechatronic simulation; mechatronic systems; and

DOWNLOAD