Design and control of a 3-DOF hydraulic driven surgical instrument
|
|
- Lynette Hines
- 5 years ago
- Views:
Transcription
1 Current Directions in Biomedical Engineering 2015; 1: Timo Cuntz* and Laura Comella* Design and control of a 3-DOF hydraulic driven surgical instrument Abstract: Although the use of minimally invasive surgery techniques has steadily increased, the development of new tools for these procedures has stagnated. Indeed a new generation of surgical instruments, with tips that have multiple degrees of freedom, has been developed. However, they are facing so many technical problems that none have been able to establish themselves in the medical market. To overcome the problems these instruments are facing, a micro hydraulic power transmission system has been developed and been presented in [1]. With these driving units it was possible to design an instrument for minimally invasive surgery with a tip which is movable in 3 degrees of freedom DOF) and that is light in weight, small in size and powerful in movements and gripping. This paper presents the mechanical setup including dimensions and materials), describes the theoretical basis for the control with the inverse kinematic model, discusses the external drives setup and gives first performance data of this novel hydraulically actuated laparoscopic instrument with 3 degrees of freedom. Keywords: MIS-Systems; articulating instrument; NOTES; man-machine-interface; micro actuators; hydraulic actuators DOI: /CDBME Introduction Surgical techniques have seen major developments over the last two decades, with the role of laparoscopy having an increasingly relevant place in modern medicine. The reasons for its success are the advantages for the patients, such as reduced haemorrhaging and smaller incisions, which in turn reduce pain and shorten recovery time [2, 3]. However, the tools and instruments for laparoscopic surgery have not kept up with this progress. The equipment setup in this domain has remained largely un- changed since the days in which this surgical method was introduced. Besides some exceptions, the instrumentation consists of rigid rod-like graspers and scissors. Nonetheless, minimally invasive procedures have continued to evolve and new operation modes have been developed such as Single Port and NOTES surgery. These procedures aim to reduce complications related to port placement, but they make high demands on the instrumentation setup [4]. Even though innovative and novel instruments have been developed, such as articulating and flexible shaft instruments, none of them have been successfully introduced in surgical procedures. Due to limited force transmission, impossibility of robust grasping [5] and complicated handling [6], these mechanical multi degree-of-freedom DOF) instruments have never really found their application [7]. By integrating electromechanical drives into the instrument s handle to actuate the tip s DOFs, it was possible to overcome some of the disadvantages described above. Unfortunately, this created new problems due to the weight of the motors and hence this solution failed before it could become widespread. This is supported by the fact that one of these systems has already been withdrawn from the market. Fraunhofer PAMB, instead, proposes in [1], a new approach: laparoscopic instruments powered by hydraulics. This technology has the advantage that the actuators have a higher force and power density than most of the others [9] and, because of their dimensions, they can be located directly on the tip. The instruments featuring this technology are both small and light as their drives the pumps producing hydraulic pressure) can be located remotely. Moreover, sensors to measure actuator parameters do not contribute to the instrument s weight, as they can be located anywhere in the hydraulic circuit. In this paper, details about the instrument technology will be given together with information about the control concept - namely the drive set up and instrument s inverse kinematic equations. *Corresponding Author: Timo Cuntz: Medical Assistance Systems, Fraunhofer PAMB, Mannheim, Germany, Timo.Cuntz@ipa.Fraunhofer.de *Corresponding Author: Laura Comella: Control Systems in Medical Engineering, Fraunhofer PAMB, Mannheim, Germany: Laura.Maria.Comella@ipa.fraunhofer.de
2 T. Cuntz, L. Comella, Design and control of a 3-DOF hydraulic driven surgical instrument Methods To determine the specifications of a handheld surgical instrument with multiple degrees of freedom at the tip, requirement analyses have been conducted [9]. Together with the problems existing instruments are facing, this breakdown has shown that it is impossible to develop mechanically driven instruments that fit the specifications. The main reason being the combination of holding the instrument, moving and applying force on the instrument s tip for multi degrees of freedom. To solve this, mechanical decoupling of the movements and forces applied by the doctor to the user interface and the movements and forces working on the instrument s tip is necessary. This decoupling necessitates builtin drives in the instrument [5]. Hence possible drive solutions have been explored. As result, actuation with micro hydraulic systems was the only solution to fulfil the requirements listed above. Subsequently the usability of hydraulic systems for medical applications was verified. Therefore potential hydraulic fluids compatible with use in medical devices have been examined. Then the feasibility of sterilizing hydraulic systems filled with these fluids was investigated [1]. 3 Results 3.1 Mechanical setup with external drives It was possible to develop a surgical instrument with 3 hydraulically actuated DOF shown in Figure 3. The instrument s tip consists of three segments connected via two cylindrical joints which are offset by 90 degrees about their longitudinal axis. The joints are connected in a serial chain and each joint is actuated by an internal mechanism consisting of two antagonistic linear hydraulic actuators. In total, the movements of the tip are powered by 6 integrated micro hydraulic cylinders with a piston diameter of 2.45 mm. Being designed for a maximum working pressure of 200 bar, they can produce an actuator force of 94N each. Sealed with micro O-rings which are lubricated with medical white oil, their average internal friction can be kept below 2N, about 2% of the total actuator force. All the actuators and mechanical parts can be integrated in a cylindrical shape of 8 mm in diameter. The instrument s cylinders are powered by hydraulic syringe pumps: each cylinder of the instrument is connected with its own pump over a closed circuit. For filling and bleeding out the air, the circuit can be opened Figure 1: Picture of the 3 DOF instrument tip, actuated by 6 hydraulic cylinders 3. with valves. This hardware configuration has the advantage to be free from the non-linearity associated with the use of valves in hydraulic circuits. Moreover, since every syringe pump is directly connected to one of the instrument s cylinders, equipping the syringe pump with sensors makes it possible to acquire information about the corresponding cylinder in the instrument. A position or a pressure sensor in every syringe pump makes a straightforward implementation of a closed loop control possible without increasing the instrument s weight, as the sensors are not integral to the instrument, but located within the pump. 3.2 Control concept and inverse kinematic model The control concept can be summarized as follows: The control software receives the desired configuration of the tip as an input; this information is converted by the inverse kinematics module into actuator extensions and sent as a command to each syringe. The syringe pump displacement translates directly to an actuator extension with a known transmission ratio. The first step for the implementation of this control system is the definition of the inverse kinematic equations. Given the mechanical design of the instrument, a relationship needs to be established between the actuator extensions, hence the joint rotations, and finally the tool tip position. The equations will be derived by applying inverse kinematic theory for both mechanisms: the serial chain and the internal mechanisms. The relationship between
3 142 T. Cuntz, L. Comella, Design and control of a 3-DOF hydraulic driven surgical instrument tool tip position and joint rotations can be established by applying to the serial chain the inverse serial kinematic method of Denavit-Hartenberg DH). The relationship between the joint rotations and the actuator extensions can be determined by applying a geometrical method to the internal mechanism. The details of the derivations are described in the following paragraphs. Hartemberg convention [10], as shown in Fig. 2 and the DH parameters were defined as shown in Table 1 where: a is the distance between z i and z i+1 measured along x i ; α is the angle from z i to z i+1 around x i ; d is the distance between x i 1 and x i measured along z i ; θ is the angle from x i 1 to x i around z i ; Using these parameters it is then possible to define the homogeneous transformation matrix 0 3 T. 0 3T = 0 1 A 2 3 A cθ 1 cθ 2 cθ 1 sθ 1 sθ 1 c cθ 2 cθ 1 b cθ 1 a sθ = 1 cθ 2 sθ 2 sθ 1 cθ 1 c cθ 2 sθ 1 b sθ 1 sθ 2 cθ 2 0 csθ 2 0 1A = a cos θ 1 0 sin θ 1 b cos θ 1 1 sin θ 2A = 1 0 cos θ 1 b sin θ ) 2) Figure 2: Image showing the instrument s tip from two sides: a frontal face and a view of the instrument rotated by 90 degrees. The frame s position and orientation, placed on the joints accordin to the Denavit-Hartemberg convention, are also defined. Table 1: Denavit-Hartemberg Parameters, defined for finding the relationship between instrument tool tip position and joint rotation. joint theta d a alpha a 0 2 thet1 0 b 90 3 thet2 0 c 0 In order to find the relationship between tool tip position and joint rotations, reference frames of the mechanism s joints were affixed according to the Denavit- cos θ 2 0 sin θ 2 c cos θ 2 2 sin θ 3A = 2 0 cos θ 2 c sin θ The last column of the matrix 1) represents the vector that links the tip reference frame and the origin. Its components are defined as: p x = c cos θ 2 cos θ 1 b cos θ 1 a p y = c cos θ 2 sin θ 1 b sin θ 1 4) p z = c sin θ 2 a is the distance between reference frame and joint 1; b is the distance between joint 1 and joint 2; c is the distance between joint 2 and the tip frame; px; py and pz define the desired position in the reference coordinate system of one of the two pliers jaws; θ 1 and θ 2 are respectively the rotation angles of joints 1 and 2. The system equation 5 can be, with the help of Fig. 2, easily adapted for the second pliers jaw. 3)
4 T. Cuntz, L. Comella, Design and control of a 3-DOF hydraulic driven surgical instrument 143 Hence from equation 4) it is possible to deduce the relationship between end-effector jaw position and joint rotations: ) p y θ 1 = arcsin 5) c cos θ 2 ) p z θ 2 = arcsin 6) c cos θ 2 + b With the relationship between tool tip position and joint rotation defined, a relationship can be established between the joint rotation and actuator extensions from the inverse kinematics of the internal mechanism. A schematic of this mechanism is shown in Fig. 3. [ 1 θ b2 = arccos [ x 2 =h p L a L b sin arccos L c cos θ L c2 L d ) b Lc cos θ L c2 L d b L b ] 9) )] +L c sin θ c2 10) θ c2 +ϕ θ c1 = π 11) The identities resulting from the serial and internal mechanisms are linked by the following geometrical relationship: θ c1 = C θ + θ 1 12) Where C θ is a constant angle due to the parallel kinematic structure C θ is the value of θ c1 when x 1 = x 2 ). 12) Defines that a rotation of the joint corresponds to an equal change of θ c1 from its equilibrium position. It can be concluded that once the end-effector position p x ; p y and p z ) is defined, θ 1 and θ 2 can be calculated from 5) and 6). Knowing θ 1, the orientation of joint 1, it is possible to calculate θ c1 from 12) and then θ c2 from 11). At last θ c1 and θ c2 can be respectively substituted in 8) and 10), obtaining x 1 and x 2, the piston extensions. 4 Conclusion Figure 3: Schematic diagram showing the parallel kinematic mechanism. Defined as: h p the x coordinate of the joint; L a, L b and, L c the segment dimensions of the parallel kinematic; θ b1 and θ b2 the angle between the first and the second segment of the two branches of the mechanism; θ c1 and θ c2 the angle between the third segment of the two mechanism branches and a horizontal line; x 1 and x 2 the distance between piston and cylinder base. A geometrical method is used to establish the following kinematic relationships: [ ] 1 θ b1 = arcsin L c cos θ L c1 L d ) 7) b [ x 1 =h p L a L b sin arcsin Lc L b cos θ c1 L d L b )] L c sin θ c1 8) A hydraulically actuated surgical instrument with a multiple DOF tip was designed. As these systems can be built as lightweight, powerful and small assemblies, they have the potential to overcome the majority of problems that similar mechanically or electrically powered instruments face. As even small hydraulic cylinders with diameters of 2.5mm can produce forces up to 100N, it is possible to place the actuation of the tips DOF directly in the tip. The hydraulic power can be transmitted through thin tubes, allowing the power units used to produce the hydraulic pressure to be placed beside the operating table. It is therefore possible to build powerful surgical instruments not exceeding the weight of those being actuated by hand. Furthermore, a new control concept for a new hydraulically actuated instrument has been developed together with the mathematical description of its inverse kinematic. The pressure supply configuration, with 6 syringe pumps driving 6 hydraulic cylinders, has the advantages of a direct transmission of the pump displacement to the hydraulic actuator extension as well as enabling a straightforward implementation of closed-loop control. Sensor integration in the instrument cylinders to enhance safety of closed loop control via redundancy. Development of alternative pressure supply methods which can match the current system s performance
5 144 T. Cuntz, L. Comella, Design and control of a 3-DOF hydraulic driven surgical instrument but improve the current solution in terms of size and cost. Author s Statement Conflict of interest: Authors state no conflict of interest. Material and Methods: Informed consent: Informed consent has been obtained from all individuals included in this study. Ethical approval: The research related to human use has been complied with all the relevant national regulations, institutional policies and in accordance the tenets of the Helsinki Declaration, and has been approved by the authors institutional review board or equivalent committee. References [1] T. Cuntz, G. James, et al., Next generation surgical instruments powered by hydraulics, Biomedical Engineering/Biomedizinische Technik, [2] T. Carus, Operationsatlas Laparoskopische Chirurgie. Springer, 2010 [3] P. Dasgupta, J. Fitzpatrick, et al., New Technologies in Urology. Springer, 2010, vol. 7 [4] R. Autorino, R. J. Stein, et al., Current status and future perspectives in laparoendoscopic single-site and natural orifice transluminal endoscopic urological surgery, International journal of urology: official journal of the Japanese Urological Association, vol. 17, no. 5, pp , May [5] J. H. Kaouk, R. Autorino, et al., Laparoendoscopic single-site surgery in urology: worldwide multi-institutional analysis of 1076 cases., Eur. Urol., vol. 60, no. 5, pp , Nov [6] F. Gaboardi, A. Gregori, et al. 2011). LESS radical prostatectomy: a pilot feasibility study with a personal original technique. BJU international, 1073), [7] P. Dasgupta, J. Fitzpatrick, et al., New Technologies in Urology. Springer, 2010 [8] M. De Volder, Pneumatic and hydraulic micro actuators: a new approach for achieving high force and power densities at micro scale, status: published, [9] T. Cuntz, Untersuchungen zur Eignung mikrohydraulischer Antriebe für die minimal invasive Chirurgie, in press [10] J. J. Craig, Introduction to Robotics, P. E. international
Industrial Robots : Manipulators, Kinematics, Dynamics
Industrial Robots : Manipulators, Kinematics, Dynamics z z y x z y x z y y x x In Industrial terms Robot Manipulators The study of robot manipulators involves dealing with the positions and orientations
More informationStackable 4-BAR Mechanisms and Their Robotic Applications
The 010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-, 010, Taipei, Taiwan Stackable 4-BAR Mechanisms and Their Robotic Applications Hoyul Lee and Youngjin Choi Abstract
More informationSimulation-Based Design of Robotic Systems
Simulation-Based Design of Robotic Systems Shadi Mohammad Munshi* & Erik Van Voorthuysen School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052 shadimunshi@hotmail.com,
More informationDesign & Kinematic Analysis of an Articulated Robotic Manipulator
Design & Kinematic Analysis of an Articulated Robotic Manipulator Elias Eliot 1, B.B.V.L. Deepak 1*, D.R. Parhi 2, and J. Srinivas 2 1 Department of Industrial Design, National Institute of Technology-Rourkela
More informationKinematics and dynamics analysis of micro-robot for surgical applications
ISSN 1 746-7233, England, UK World Journal of Modelling and Simulation Vol. 5 (2009) No. 1, pp. 22-29 Kinematics and dynamics analysis of micro-robot for surgical applications Khaled Tawfik 1, Atef A.
More informationMatlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer
Matlab Simulator of a 6 DOF Stanford Manipulator and its Validation Using Analytical Method and Roboanalyzer Maitreyi More 1, Rahul Abande 2, Ankita Dadas 3, Santosh Joshi 4 1, 2, 3 Department of Mechanical
More informationDevelopment of a Master Slave System with Force Sensing Using Pneumatic Servo System for Laparoscopic Surgery
2007 IEEE International Conference on Robotics and Automation Roma, Italy, 10-14 April 2007 WeC8.3 Development of a Master Slave System with Force Sensing Using Pneumatic Servo System for Laparoscopic
More informationInverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm
Inverse Kinematics Analysis for Manipulator Robot With Wrist Offset Based On the Closed-Form Algorithm Mohammed Z. Al-Faiz,MIEEE Computer Engineering Dept. Nahrain University Baghdad, Iraq Mohammed S.Saleh
More informationALL SINGULARITIES OF THE 9-DOF DLR MEDICAL ROBOT SETUP FOR MINIMALLY INVASIVE APPLICATIONS
ALL SINGULARITIES OF THE 9-DOF DLR MEDICAL ROBOT SETUP FOR MINIMALLY INVASIVE APPLICATIONS Rainer Konietschke, Gerd Hirzinger German Aerospace Center, Institute of Robotics and Mechatronics P.O. Box 6,
More informationEEE 187: Robotics Summary 2
1 EEE 187: Robotics Summary 2 09/05/2017 Robotic system components A robotic system has three major components: Actuators: the muscles of the robot Sensors: provide information about the environment and
More informationIndex Terms Denavit-Hartenberg Parameters, Kinematics, Pick and place robotic arm, Taper roller bearings. III. METHODOLOGY
ISSN: 39-5967 ISO 9:8 Certified Volume 5, Issue 3, May 6 DESIGN OF A PROTOTYPE OF A PICK AND PLACE ROBOTIC ARM Amod Aboti, Sanket Acharya, Abhinav Anand, Rushikesh Chintale, Vipul Ruiwale Abstract In the
More informationMCE/EEC 647/747: Robot Dynamics and Control. Lecture 3: Forward and Inverse Kinematics
MCE/EEC 647/747: Robot Dynamics and Control Lecture 3: Forward and Inverse Kinematics Denavit-Hartenberg Convention Reading: SHV Chapter 3 Mechanical Engineering Hanz Richter, PhD MCE503 p.1/12 Aims of
More informationChapter 1: Introduction
Chapter 1: Introduction This dissertation will describe the mathematical modeling and development of an innovative, three degree-of-freedom robotic manipulator. The new device, which has been named the
More informationKinematics. Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position.
Kinematics Kinematics analyzes the geometry of a manipulator, robot or machine motion. The essential concept is a position. 1/31 Statics deals with the forces and moments which are aplied on the mechanism
More informationME5286 Robotics Spring 2014 Quiz 1 Solution. Total Points: 30
Page 1 of 7 ME5286 Robotics Spring 2014 Quiz 1 Solution Total Points: 30 (Note images from original quiz are not included to save paper/ space. Please see the original quiz for additional information and
More informationDrawing using the Scorbot-ER VII Manipulator Arm
Drawing using the Scorbot-ER VII Manipulator Arm Luke Cole Adam Ferenc Nagy-Sochacki Jonathan Symonds cole@lc.homedns.org u2546772@anu.edu.au u3970199@anu.edu.au October 29, 2007 Abstract This report discusses
More informationForward Kinematic Analysis, Simulation & Workspace Tracing of Anthropomorphic Robot Manipulator By Using MSC. ADAMS
Forward Kinematic Analysis, Simulation & Workspace Tracing of Anthropomorphic Robot Manipulator By Using MSC. ADAMS Amit L Talli 1, B. B. Kotturshettar 2 Asst. Professor, Department of Automation & Robotics
More informationInverse Kinematics. Given a desired position (p) & orientation (R) of the end-effector
Inverse Kinematics Given a desired position (p) & orientation (R) of the end-effector q ( q, q, q ) 1 2 n Find the joint variables which can bring the robot the desired configuration z y x 1 The Inverse
More informationTheory of Robotics and Mechatronics
Theory of Robotics and Mechatronics Final Exam 19.12.2016 Question: 1 2 3 Total Points: 18 32 10 60 Score: Name: Legi-Nr: Department: Semester: Duration: 120 min 1 A4-sheet (double sided) of notes allowed
More informationA Novel Remote Center-of Motion Parallel manipulator for Minimally Invasive Celiac Surgery
International Journal of Research in Engineering and Science (IJRES) ISSN (Online): 2320-9364, ISSN (Print): 2320-9356 Volume 3 Issue 8 ǁ August. 2015 ǁ PP.15-19 A Novel Remote Center-of Motion Parallel
More informationMODELING AND DYNAMIC ANALYSIS OF 6-DOF PARALLEL MANIPULATOR
MODELING AND DYNAMIC ANALYSIS OF 6-DOF PARALLEL MANIPULATOR N Narayan Rao 1, T Ashok 2, Anup Kumar Tammana 3 1 Assistant Professor, Department of Mechanical Engineering, VFSTRU, Guntur, India. nandurerao@gmail.com
More informationJane Li. Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute
Jane Li Assistant Professor Mechanical Engineering Department, Robotic Engineering Program Worcester Polytechnic Institute We know how to describe the transformation of a single rigid object w.r.t. a single
More informationPick and Place Robot Simulation
Pick and Place Robot Simulation James Beukers Jordan Jacobson ECE 63 Fall 4 December 6, 4 Contents Introduction System Overview 3 3 State Space Model 3 4 Controller Design 6 5 Simulation and Results 7
More informationDevelopment of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM
5th International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 217 1 Development of Direct Kinematics and Workspace Representation for Smokie Robot Manipulator & the Barret WAM Reza Yazdanpanah
More informationWorkspace computation in parallel manipulators with three translational degrees of freedom
Workspace computation in parallel manipulators with three translational degrees of freedom Giovanni Boschetti, Roberto Caracciolo Department of Industrial and Engineering, University of Padua, Italy E-mail:
More informationChapter 2 Mechanisms Abstract
Chapter 2 Mechanisms Abstract This chapter begins with a description of the different types of mechanisms that are generally used, especially in industrial robots. The parameters and variables of the mechanisms
More informationLesson 1: Introduction to Pro/MECHANICA Motion
Lesson 1: Introduction to Pro/MECHANICA Motion 1.1 Overview of the Lesson The purpose of this lesson is to provide you with a brief overview of Pro/MECHANICA Motion, also called Motion in this book. Motion
More informationThis week. CENG 732 Computer Animation. Warping an Object. Warping an Object. 2D Grid Deformation. Warping an Object.
CENG 732 Computer Animation Spring 2006-2007 Week 4 Shape Deformation Animating Articulated Structures: Forward Kinematics/Inverse Kinematics This week Shape Deformation FFD: Free Form Deformation Hierarchical
More informationNEW APPROACH FOR FORWARD KINEMATIC MODELING OF INDUSTRIAL ROBOTS
NEW APPROACH FOR FORWARD KINEMATIC MODELING OF INDUSTRIAL ROBOTS Engineering Cozmin CRISTOIU 1 Adrian NICOLESCU 2 ABSTRACT: DESIGNING AND CONTROLLING INDUSTRIAL ROBOTS INVOLVES DETERMINING THE POSITION
More informationIntroduction To Robotics (Kinematics, Dynamics, and Design)
Introduction To Robotics (Kinematics, Dynamics, and Design) SESSION # 5: Concepts & Defenitions Ali Meghdari, Professor School of Mechanical Engineering Sharif University of Technology Tehran, IRAN 11365-9567
More informationChapter 2 Kinematics of Mechanisms
Chapter Kinematics of Mechanisms.1 Preamble Robot kinematics is the study of the motion (kinematics) of robotic mechanisms. In a kinematic analysis, the position, velocity, and acceleration of all the
More informationNew Cable-Driven Continuum Robot with Only One Actuator
New Cable-Driven Continuum Robot with Only One Actuator Jiang, Z., Luo, Y., & Jin, Y. (2018). New Cable-Driven Continuum Robot with Only One Actuator. In 8th IEEE International Conference on Cybernetics
More informationIntroduction to Robotics
Université de Strasbourg Introduction to Robotics Bernard BAYLE, 2013 http://eavr.u-strasbg.fr/ bernard Modelling of a SCARA-type robotic manipulator SCARA-type robotic manipulators: introduction SCARA-type
More informationSimulation and Modeling of 6-DOF Robot Manipulator Using Matlab Software
Simulation and Modeling of 6-DOF Robot Manipulator Using Matlab Software 1 Thavamani.P, 2 Ramesh.K, 3 Sundari.B 1 M.E Scholar, Applied Electronics, JCET, Dharmapuri, Tamilnadu, India 2 Associate Professor,
More informationKINEMATIC MODELLING AND ANALYSIS OF 5 DOF ROBOTIC ARM
International Journal of Robotics Research and Development (IJRRD) ISSN(P): 2250-1592; ISSN(E): 2278 9421 Vol. 4, Issue 2, Apr 2014, 17-24 TJPRC Pvt. Ltd. KINEMATIC MODELLING AND ANALYSIS OF 5 DOF ROBOTIC
More informationA Geometric Approach to Inverse Kinematics of a 3 DOF Robotic Arm
A Geometric Approach to Inverse Kinematics of a 3 DOF Robotic Arm Ayush Gupta 1, Prasham Bhargava 2, Ankur Deshmukh 3, Sankalp Agrawal 4, Sameer Chourika 5 1, 2, 3, 4, 5 Department of Electronics & Telecommunication,
More informationUsing Algebraic Geometry to Study the Motions of a Robotic Arm
Using Algebraic Geometry to Study the Motions of a Robotic Arm Addison T. Grant January 28, 206 Abstract In this study we summarize selected sections of David Cox, John Little, and Donal O Shea s Ideals,
More informationRobot mechanics and kinematics
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2016/17 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationGeometric Modeling of Parallel Robot and Simulation of 3-RRR Manipulator in Virtual Environment
Geometric Modeling of Parallel Robot and Simulation of 3-RRR Manipulator in Virtual Environment Kamel BOUZGOU, Reda HANIFI EL HACHEMI AMAR, Zoubir AHMED-FOITIH Laboratory of Power Systems, Solar Energy
More informationEE Kinematics & Inverse Kinematics
Electric Electronic Engineering Bogazici University October 15, 2017 Problem Statement Kinematics: Given c C, find a map f : C W s.t. w = f(c) where w W : Given w W, find a map f 1 : W C s.t. c = f 1
More informationINSTITUTE OF AERONAUTICAL ENGINEERING
Name Code Class Branch Page 1 INSTITUTE OF AERONAUTICAL ENGINEERING : ROBOTICS (Autonomous) Dundigal, Hyderabad - 500 0 MECHANICAL ENGINEERING TUTORIAL QUESTION BANK : A7055 : IV B. Tech I Semester : MECHANICAL
More informationRobot mechanics and kinematics
University of Pisa Master of Science in Computer Science Course of Robotics (ROB) A.Y. 2017/18 cecilia.laschi@santannapisa.it http://didawiki.cli.di.unipi.it/doku.php/magistraleinformatica/rob/start Robot
More informationA Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation
2013 IEEE International Conference on Robotics and Automation (ICRA) Karlsruhe, Germany, May 6-10, 2013 A Parallel Robots Framework to Study Precision Grasping and Dexterous Manipulation Júlia Borràs,
More informationInverse Kinematics Software Design and Trajectory Control Programming of SCARA Manipulator robot
International Journal of Engineering Research and Technology. ISSN 0974-3154 Volume 11, Number 11 (2018), pp. 1759-1779 International Research Publication House http://www.irphouse.com Inverse Kinematics
More informationOpen Access The Kinematics Analysis and Configuration Optimize of Quadruped Robot. Jinrong Zhang *, Chenxi Wang and Jianhua Zhang
Send Orders for Reprints to reprints@benthamscience.ae The Open Automation and Control Systems Journal, 014, 6, 1685-1690 1685 Open Access The Kinematics Analysis and Configuration Optimize of Quadruped
More informationCONSIDERATIONS REGARDING LINKAGES USED FOR SHAFTS COUPLING
Mechanical Testing and Diagnosis ISSN 2247 9635, 2012 (II), Volume 4, 19-27 CONSIDERATIONS REGARDING LINKAGES USED FOR SHAFTS COUPLING Stelian ALACI, Florina Carmen CIORNEI, Constantin FILOTE, Luminiţa
More informationKinematics of Machines. Brown Hills College of Engineering & Technology
Introduction: mechanism and machines, kinematic links, kinematic pairs, kinematic chains, plane and space mechanism, kinematic inversion, equivalent linkages, four link planar mechanisms, mobility and
More informationA Review Paper on Analysis and Simulation of Kinematics of 3R Robot with the Help of RoboAnalyzer
A Review Paper on Analysis and Simulation of Kinematics of 3R Robot with the Help of RoboAnalyzer Ambuja Singh Student Saakshi Singh Student, Ratna Priya Kanchan Student, Abstract -Robot kinematics the
More informationKinematic design considerations for minimally invasive surgical robots: an overview
THE INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY Int J Med Robotics Comput Assist Surg 2012; 8: 127 145. Published online 9 January 2012 in Wiley Online Library (wileyonlinelibrary.com).453
More informationPrinciples of Engineering PLTW Scope and Sequence Year at a Glance First Semester
PLTW Scope and Sequence Year at a Glance First Semester Three Weeks 1 st 3 weeks 2 nd 3 weeks 3 rd 3 weeks 4 th 3 weeks 5 th 3 weeks 6 th 3 weeks Topics/ Concepts 1.1 Energy Forms 1.2 Energy, Work, & Power
More informationProf. Mark Yim University of Pennsylvania
Robotics: Fundamentals Prof. Mark Yim University of Pennsylvania Week 5: Degrees of Freedom Robo1x-1.5 1 The Goal Understanding the position and orientation of robot links. Computing end-effector positions
More informationMethod for designing and controlling compliant gripper
IOP Conference Series: Materials Science and Engineering PAPER OPEN ACCESS Method for designing and controlling compliant gripper To cite this article: A R Spanu et al 2016 IOP Conf. Ser.: Mater. Sci.
More informationAssignment 3: Robot Design and Dynamics ME 328: Medical Robotics Stanford University w Autumn 2016
Assignment 3: Robot Design and Dynamics ME 328: Medical Robotics Stanford University w Autumn 2016 Due to submission box outside Okamura s office by :00 pm on Monday, October 2 (revised) Note: You can
More informationKINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS
KINEMATIC ANALYSIS OF 3 D.O.F OF SERIAL ROBOT FOR INDUSTRIAL APPLICATIONS Annamareddy Srikanth 1 M.Sravanth 2 V.Sreechand 3 K.Kishore Kumar 4 Iv/Iv B.Tech Students, Mechanical Department 123, Asst. Prof.
More informationDynamic Analysis of Manipulator Arm for 6-legged Robot
American Journal of Mechanical Engineering, 2013, Vol. 1, No. 7, 365-369 Available online at http://pubs.sciepub.com/ajme/1/7/42 Science and Education Publishing DOI:10.12691/ajme-1-7-42 Dynamic Analysis
More information10/25/2018. Robotics and automation. Dr. Ibrahim Al-Naimi. Chapter two. Introduction To Robot Manipulators
Robotics and automation Dr. Ibrahim Al-Naimi Chapter two Introduction To Robot Manipulators 1 Robotic Industrial Manipulators A robot manipulator is an electronically controlled mechanism, consisting of
More informationStatic modeling of multisection soft continuum manipulator for Stiff-Flop project
Static modeling of multisection soft continuum manipulator for Stiff-Flop project Jan Fraś 1, Jan Czarnowski 1, Mateusz Maciaś 1, Jakub Główka 1 1 Przemysłowy Instytut Automatyki i Pomiarów PIAP, Warsaw,
More information[2] J. "Kinematics," in The International Encyclopedia of Robotics, R. Dorf and S. Nof, Editors, John C. Wiley and Sons, New York, 1988.
92 Chapter 3 Manipulator kinematics The major expense in calculating kinematics is often the calculation of the transcendental functions (sine and cosine). When these functions are available as part of
More informationMethodology to Determine Counterweights for Passive Balancing of a 3-R Orientation Sensing Mechanism using Hanging Method
Methodology to Determine Counterweights for Passive Balancing of a 3-R Orientation Sensing Mechanism using Hanging Method Shasa A. Antao, Vishnu S. Nair and Rajeevlochana G. Chittawadigi Department of
More informationROBOTICS 9/2/2015. Last and First Name Matricola
ROBOTICS 9/2/2015 Last and First Name Matricola PART 1 - QUIZ (8 marks) 1. The geometric specification of the robot working space - considers the last 3 degrees of freedom of a manipulator T F - is only
More informationAutomatic generation of humanoid s geometric model parameters
Automatic generation of humanoid s geometric model parameters Vincent Hugel and Nicolas Jouandeau LISV, University of Versailles and LIASD, University of Paris 8 Abstract. This paper describes a procedure
More informationROBOTICS 01PEEQW. Basilio Bona DAUIN Politecnico di Torino
ROBOTICS 01PEEQW Basilio Bona DAUIN Politecnico di Torino Kinematic chains Readings & prerequisites From the MSMS course one shall already be familiar with Reference systems and transformations Vectors
More informationDesign of a Three-Axis Rotary Platform
Design of a Three-Axis Rotary Platform William Mendez, Yuniesky Rodriguez, Lee Brady, Sabri Tosunoglu Mechanics and Materials Engineering, Florida International University 10555 W Flagler Street, Miami,
More informationBasilio Bona ROBOTICA 03CFIOR 1
Kinematic chains 1 Readings & prerequisites Chapter 2 (prerequisites) Reference systems Vectors Matrices Rotations, translations, roto-translations Homogeneous representation of vectors and matrices Chapter
More informationMDP646: ROBOTICS ENGINEERING. Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt. Prof. Said M.
MDP646: ROBOTICS ENGINEERING Mechanical Design & Production Department Faculty of Engineering Cairo University Egypt Prof. Said M. Megahed APPENDIX A: PROBLEM SETS AND PROJECTS Problem Set # Due 3 rd week
More informationCALCULATING TRANSFORMATIONS OF KINEMATIC CHAINS USING HOMOGENEOUS COORDINATES
CALCULATING TRANSFORMATIONS OF KINEMATIC CHAINS USING HOMOGENEOUS COORDINATES YINGYING REN Abstract. In this paper, the applications of homogeneous coordinates are discussed to obtain an efficient model
More informationME5286 Robotics Spring 2013 Quiz 1
Page 1 of 7 ME5286 Robotics Spring 2013 Quiz 1 Total Points: 36 You are responsible for following these instructions. Please take a minute and read them completely. 1. Put your name on this page, any other
More informationMTRX4700 Experimental Robotics
MTRX 4700 : Experimental Robotics Lecture 2 Stefan B. Williams Slide 1 Course Outline Week Date Content Labs Due Dates 1 5 Mar Introduction, history & philosophy of robotics 2 12 Mar Robot kinematics &
More informationDevelopment of reconfigurable serial manipulators using parameters based modules
Development of reconfigurable serial manipulators using parameters based modules Satwinder Singh, Atul Aggarwal, Yogesh Singhal, Ekta Singla Abstract The aim of this paper is to present a modular architecture
More informationApplication Of Multibody Dynamic Method (Mbd) And Mechanical Principle To The Cylinder Torque Calculation
Application Of Multibody Dynamic Method (Mbd) And Mechanical Principle To The Cylinder Torque Calculation Gwo-Chung Tsai Department Of Mechanical And Electro-Mechanical Engineering, National Ilan University
More informationVirtual Testing Methodology for TPL Lifting Capacity of Agricultural Tractor TPL
Virtual Testing Methodology for TPL Lifting Capacity of Agricultural Tractor TPL Dheeraj Pandey AM CAE International Tractors Limited Jalandhar Road, Hoshiarpur 146001 - India dheerajpandey@sonalika.com
More informationSIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR
SIMULATION ENVIRONMENT PROPOSAL, ANALYSIS AND CONTROL OF A STEWART PLATFORM MANIPULATOR Fabian Andres Lara Molina, Joao Mauricio Rosario, Oscar Fernando Aviles Sanchez UNICAMP (DPM-FEM), Campinas-SP, Brazil,
More informationTRAINING A ROBOTIC MANIPULATOR
ME 4773/5493 Fundamental of Robotics Fall 2016 San Antonio, TX, USA TRAINING A ROBOTIC MANIPULATOR Jonathan Sackett Dept. of Mechanical Engineering San Antonio, TX, USA 78249 jonathan.sackett@utsa.edu
More informationRobotics kinematics and Dynamics
Robotics kinematics and Dynamics C. Sivakumar Assistant Professor Department of Mechanical Engineering BSA Crescent Institute of Science and Technology 1 Robot kinematics KINEMATICS the analytical study
More informationModeling and Control of 2-DOF Robot Arm
International Journal of Emerging Engineering Research and Technology Volume 6, Issue, 8, PP 4-3 ISSN 349-4395 (Print) & ISSN 349-449 (Online) Nasr M. Ghaleb and Ayman A. Aly, Mechanical Engineering Department,
More informationRobotics I. March 27, 2018
Robotics I March 27, 28 Exercise Consider the 5-dof spatial robot in Fig., having the third and fifth joints of the prismatic type while the others are revolute. z O x Figure : A 5-dof robot, with a RRPRP
More informationThe Uncertainty of Parallel Model Coordinate Measuring Machine
MAPAN - Journal of The Metrology Society of of Parallel India, Vol. Model 26, Coordinate No. 1, 2011; Measuring pp. 47-53 Machine ORIGINAL ARTICLE The of Parallel Model Coordinate Measuring Machine KOSUKE
More informationAdvances in Engineering Research, volume 123 2nd International Conference on Materials Science, Machinery and Energy Engineering (MSMEE 2017)
Advances in Engineering Research, volume nd International Conference on Materials Science, Machinery and Energy Engineering MSMEE Kinematics Simulation of DOF Manipulator Guangbing Bao,a, Shizhao Liu,b,
More informationKinematic Analysis of MTAB Robots and its integration with RoboAnalyzer Software
Kinematic Analysis of MTAB Robots and its integration with RoboAnalyzer Software Ratan Sadanand O. M. Department of Mechanical Engineering Indian Institute of Technology Delhi New Delhi, India ratan.sadan@gmail.com
More information3. Manipulator Kinematics. Division of Electronic Engineering Prof. Jaebyung Park
3. Manipulator Kinematics Division of Electronic Engineering Prof. Jaebyung Park Introduction Kinematics Kinematics is the science of motion which treats motion without regard to the forces that cause
More informationLecture Note 6: Forward Kinematics
ECE5463: Introduction to Robotics Lecture Note 6: Forward Kinematics Prof. Wei Zhang Department of Electrical and Computer Engineering Ohio State University Columbus, Ohio, USA Spring 2018 Lecture 6 (ECE5463
More informationMeasurement and Description of Dynamics Required for in vivo Surgical Robotics via Kinematic Methods
University of Nebraska - Lincoln DigitalCommons@University of Nebraska - Lincoln Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research Mechanical & Materials Engineering,
More informationRobot Inverse Kinematics Asanga Ratnaweera Department of Mechanical Engieering
PR 5 Robot Dynamics & Control /8/7 PR 5: Robot Dynamics & Control Robot Inverse Kinematics Asanga Ratnaweera Department of Mechanical Engieering The Inverse Kinematics The determination of all possible
More informationReconfigurable Manipulator Simulation for Robotics and Multimodal Machine Learning Application: Aaria
Reconfigurable Manipulator Simulation for Robotics and Multimodal Machine Learning Application: Aaria Arttu Hautakoski, Mohammad M. Aref, and Jouni Mattila Laboratory of Automation and Hydraulic Engineering
More informationMECHATRONICS SYSTEM ENGINEERING FOR CAE/CAD, MOTION CONTROL AND DESIGN OF VANE ACTUATORS FOR WATER ROBOT APPLICATIONS
MECHATRONICS SYSTEM ENGINEERING FOR CAE/CAD, MOTION CONTROL AND DESIGN OF VANE ACTUATORS FOR WATER ROBOT APPLICATIONS Finn CONRAD and Francesco ROLI Department of Mechanical Engineering, Technical University
More informationManipulator Path Control : Path Planning, Dynamic Trajectory and Control Analysis
Manipulator Path Control : Path Planning, Dynamic Trajectory and Control Analysis Motion planning for industrial manipulators is a challenging task when obstacles are present in the workspace so that collision-free
More informationSupplementary Information. Design of Hierarchical Structures for Synchronized Deformations
Supplementary Information Design of Hierarchical Structures for Synchronized Deformations Hamed Seifi 1, Anooshe Rezaee Javan 1, Arash Ghaedizadeh 1, Jianhu Shen 1, Shanqing Xu 1, and Yi Min Xie 1,2,*
More informationDesign, Manufacturing and Kinematic Analysis of a Kind of 3-DOF Translational Parallel Manipulator
4-27716195 mme.modares.ac.ir 2* 1-1 -2 - mo_taghizadeh@sbu.ac.ir, 174524155 * - - 194 15 : 195 28 : 195 16 : Design, Manufacturing and Kinematic Analysis of a Kind of -DOF Translational Parallel Manipulator
More informationDesign and Fabrication of a Programmable Stiffness-Sensitive Gripper for Object Handling
Design and Fabrication of a Programmable Stiffness-Sensitive Gripper for Object Handling Mehdi Modabberifar, Sanaz Jabary, Mojtaba Ghodsi Abstract Stiffness sensing is an important issue in medical diagnostic,
More informationDOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT
DOUBLE CIRCULAR-TRIANGULAR SIX-DEGREES-OF- FREEDOM PARALLEL ROBOT V. BRODSKY, D. GLOZMAN AND M. SHOHAM Department of Mechanical Engineering Technion-Israel Institute of Technology Haifa, 32000 Israel E-mail:
More informationResearch applying Spherical Gear and Ring Rack Mechanism to Rotary Work Table
ISSN: 2454-2377, Research applying Spherical Gear and Ring Rack Mechanism to Rotary Work Table Vi Hoang 1, Thuan Nguyen 2, Minh Tuan Ngo 3* Faculty of Mechanical Engineering, Thai Nguyen University of
More informationSimple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot assisted laparoscopic surgery
https://doi.org/10.1186/s40648-019-0129-y RESEARCH ARTICLE Open Access Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot assisted laparoscopic
More informationForward kinematics and Denavit Hartenburg convention
Forward kinematics and Denavit Hartenburg convention Prof. Enver Tatlicioglu Department of Electrical & Electronics Engineering Izmir Institute of Technology Chapter 5 Dr. Tatlicioglu (EEE@IYTE) EE463
More informationResearch on the Control Strategy of Decoupled 3-DOF Joystick for Teleoperation
Advances in Engineering Research, volume 0 Proceedings of the rd International Conference on Material Engineering and Application (ICMEA 06) Research on the Control Strategy of Decoupled -DOF Joystick
More informationThe Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach
The Collision-free Workspace of the Tripteron Parallel Robot Based on a Geometrical Approach Z. Anvari 1, P. Ataei 2 and M. Tale Masouleh 3 1,2 Human-Robot Interaction Laboratory, University of Tehran
More informationCOPYRIGHTED MATERIAL INTRODUCTION CHAPTER 1
CHAPTER 1 INTRODUCTION Modern mechanical and aerospace systems are often very complex and consist of many components interconnected by joints and force elements such as springs, dampers, and actuators.
More informationTrans-abdominal Active Magnetic Linkage for Robotic Surgery: Concept Definition and Model Assessment
Trans-abdominal Active Magnetic Linkage for Robotic Surgery: Concept Definition and Model Assessment C. Di Natali, T. Ranzani, M. Simi, Student Member, IEEE, A. Menciassi, Member, IEEE, P. Valdastri, Member,
More informationAnimations in Creo 3.0
Animations in Creo 3.0 ME170 Part I. Introduction & Outline Animations provide useful demonstrations and analyses of a mechanism's motion. This document will present two ways to create a motion animation
More informationINVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR
INVERSE KINEMATICS ANALYSIS OF A 5-AXIS RV-2AJ ROBOT MANIPULATOR Mohammad Afif Ayob 1, Wan Nurshazwani Wan Zakaria 1, Jamaludin Jalani 2 and Mohd Razali Md Tomari 1 1 Advanced Mechatronics Research Group
More informationKinematics of Closed Chains
Chapter 7 Kinematics of Closed Chains Any kinematic chain that contains one or more loops is called a closed chain. Several examples of closed chains were encountered in Chapter 2, from the planar four-bar
More information