Design of a Novel Force Feedback Master Manipulator
文献类型：会议论文
| 作者 | Jia H(贾鸿) ; Jiang YX(姜运祥); Sun P(孙鹏); Zhao YW(赵忆文)
|
| 出版日期 | 2015 |
| 会议名称 | 17th IFAC Symposium on System Identification, SYSID 2015 |
| 会议日期 | October 19-21, 2015 |
| 会议地点 | Beijing, China |
| 关键词 | Master manipulator Pedicle screw fixation Kinematics Workspace Stiffness |
| 页码 | 1444-1449 |
| 中文摘要 | This paper presents a novel master manipulator which specifically used in the operation of internal fixation of the pedicle screw. First, in consideration of the practical demand in this surgery, the mechanical design of parallel and serial mechanism is given according to specific design parameters. The mechanism consists of a three DOF of the improved Delta parallel mechanism to position the drill and a two DOF of a serial mechanism to adjust the posture. Then, the revised algorithm of the forward and inverse kinematics towards the improved Delta mechanism and the integral kinematics are illustrated. After that, the workspace and stiffness analysis are analyzed in three transformational directions to test its performance of maximum force feedback and stiffness. The analysis shows that this novel master manipulator meets the requirements in this specific spinal surgery. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | 17th IFAC Symposium on System Identification, SYSID 2015
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| 会议录出版者 | IFAC |
| 会议录出版地 | Laxenburg, AUSTRIA |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/17472]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Jia H,Jiang YX,Sun P,et al. Design of a Novel Force Feedback Master Manipulator[C]. 见:17th IFAC Symposium on System Identification, SYSID 2015. Beijing, China. October 19-21, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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