Kinematics analysis and simulation of a series-parallel hybrid haptic handle for surgical simulator
文献类型：会议论文
| 作者 | Zhao, Ce1,2; Zou YY(邹媛媛)3 ; Bi, Xiaonan3; Zhang C(张诚)2; Li J(李杰)2,3; Zhang K(张珂)3
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| 出版日期 | 2019 |
| 会议日期 | February 15-17, 2019 |
| 会议地点 | Cape Town, South africa |
| 关键词 | kinematicanalysis haptic handle configuration simulation surgery simulator |
| 页码 | 66-70 |
| 英文摘要 | With the increasing incidence of ophthalmic diseases and changes in the medical environment, virtual surgical simulation systems are receiving increasing attention in the training of doctors. Haptic handle is one of the main structures of virtual surgery simulator. Its configuration directly affects the stability, maneuverability and workspace of the simulator. In terms of the mechanical structure design of force feedback handle, this paper adopts the 4-branch 6-6-6-3 type 3RSS-RRR series-parallel hybrid mechanism, and applies the idea of Yang tingli building parallel platform to construct the overall configuration of the arm parallel mechanism. The improved D-H method is used to perform a kinematic analysis of the handle mechanism and the effective solution is obtained. Based on the analysis results, the working space of the haptic handle is simulated by Matlab, and the simulation results meet the demand. |
| 源文献作者 | Nelson Mandela Metropolitan University ; University of Cape Town ; University of Johannesburg |
| 产权排序 | 1 |
| 会议录 | 2019 IEEE 10th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT 2019)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-7972-2 |
| WOS记录号 | WOS:000469945000013 |
| 源URL | [http://ir.sia.cn/handle/173321/24699]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Li J(李杰) |
| 作者单位 | 1.School of Mechanical Engineering and Automation, Northeastern University 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.School of Mechanical Engineering, Shenyang Jianzhu University |
| 推荐引用方式 GB/T 7714 | Zhao, Ce,Zou YY,Bi, Xiaonan,et al. Kinematics analysis and simulation of a series-parallel hybrid haptic handle for surgical simulator[C]. 见:. Cape Town, South africa. February 15-17, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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