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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)
Department机器人学研究室
Conference Name17th IFAC Symposium on System Identification, SYSID 2015
Conference DateOctober 19-21, 2015
Conference PlaceBeijing, China
Source Publication17th IFAC Symposium on System Identification, SYSID 2015
PublisherIFAC
Publication PlaceLaxenburg, AUSTRIA
2015
Pages1444-1449
Indexed ByEI
EI Accession number20163902845844
Contribution Rank1
KeywordMaster Manipulator Pedicle Screw Fixation Kinematics Workspace Stiffness
AbstractThis 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17472
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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