中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
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
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)
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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