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Design of a Novel Force Feedback Master Manipulator
Jia H(贾鸿); Jiang YX(姜运祥); Sun P(孙鹏); Zhao YW(赵忆文)
作者部门机器人学研究室
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
会议录名称17th IFAC Symposium on System Identification, SYSID 2015
出版者IFAC
出版地Laxenburg, AUSTRIA
2015
页码1444-1449
收录类别EI
EI收录号20163902845844
产权排序1
关键词Master Manipulator Pedicle Screw Fixation Kinematics Workspace Stiffness
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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17472
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.College of Information Science and Engineering, Northeastern University, Shenyang, 110819, China
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]. Laxenburg, AUSTRIA:IFAC,2015:1444-1449.
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