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题名: Design of a Novel Force Feedback Master Manipulator
作者: 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: 17th IFAC Symposium on System Identification, SYSID 2015
会议录出版者: IFAC
会议录出版地: Laxenburg, AUSTRIA
出版日期: 2015
页码: 1444-1449
收录类别: EI
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
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17472
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
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.
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文件名: Design of a Novel Force Feedback Master Manipulator.pdf
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