SIA OpenIR  > 机器人学研究室
Kinematics analysis and simulation of a series-parallel hybrid haptic handle for surgical simulator
Li J(李杰)1,2; Zhao, Ce2,3; Bi, Xiaonan1; Zhang C(张诚)2; Zou YY(邹媛媛)1; Zhang K(张珂)1
Department机器人学研究室
Conference Name2019 IEEE 10th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT 2019)
Conference DateFebruary 15-17, 2019
Conference PlaceCape Town, South africa
Author of SourceNelson Mandela Metropolitan University ; University of Cape Town ; University of Johannesburg
Source Publication2019 IEEE 10th International Conference on Mechanical and Intelligent Manufacturing Technologies (ICMIMT 2019)
PublisherIEEE
Publication PlaceNew York
2019
Pages66-70
Indexed ByEI ; CPCI(ISTP)
EI Accession number20192307005809
WOS IDWOS:000469945000013
Contribution Rank1
ISBN978-1-5386-7972-2
Keywordkinematicanalysis haptic handle configuration simulation surgery simulator
AbstractWith 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24699
Collection机器人学研究室
Corresponding AuthorLi J(李杰)
Affiliation1.School of Mechanical Engineering, Shenyang Jianzhu University
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.School of Mechanical Engineering and Automation, Northeastern University
Recommended Citation
GB/T 7714
Li J,Zhao, Ce,Bi, Xiaonan,et al. Kinematics analysis and simulation of a series-parallel hybrid haptic handle for surgical simulator[C]//Nelson Mandela Metropolitan University, University of Cape Town, University of Johannesburg. New York:IEEE,2019:66-70.
Files in This Item: Download All
File Name/Size DocType Version Access License
Kinematics analysis (2096KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Li J(李杰)]'s Articles
[Zhao, Ce]'s Articles
[Bi, Xiaonan]'s Articles
Baidu academic
Similar articles in Baidu academic
[Li J(李杰)]'s Articles
[Zhao, Ce]'s Articles
[Bi, Xiaonan]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li J(李杰)]'s Articles
[Zhao, Ce]'s Articles
[Bi, Xiaonan]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Kinematics analysis and simulation of a series-parallel hybrid haptic handle for surgical simulator.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.