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Synthesis And Applications Of Decoupled Parallel Manipulators Using Motion Constraint Generator For Minimally Invasive Surgery

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Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery Book
Author : Chin-Hsing Kuo,King's College London. Department of Mechanical Engineering
Publisher : Unknown
Release : 2011
ISBN : 0987650XXX
File Size : 45,7 Mb
Language : En, Es, Fr and De

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Book Summary :

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a crucial design challenge for surgical robots. Although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) parallel robot with RCM function is still highly anticipated. This thesis, therefore, is devoted to the structural synthesis and applications of decoupled parallel robots for minimally invasive surgery. Firstly, for identifying the kinematic design requirements in MIS task, a comprehensive review to the kinematic design for MIS robots is provided. Then, the structural synthesis of serial manipulators subject to specific motion constraints is presented, leading that an approach for the structural synthesis of parallel manipulators using motion constraint generator is developed. For achieving the motion decouplebility, the decoupled design of such motion-constraint-generator-based parallel manipulators is followed. Accordingly, a class of novel multi-DOF fully decoupled parallel manipulators, including the fully decoupled 4-DOF RCM parallel robot, is concluded. Next, for studying the special kinematics of the synthesized manipulators, position analysis of two decoupled parallel manipulators is illustrated, from which both inverse and direct kinematics solutions are derived. In addition, a unified method for the Jacobian analysis of the parallel manipulators using motion constraint generator is put forward for identifying the configuration singularity of the manipulators. Finally, a novel decoupled 4-DOF RCM parallel manipulator for minimally invasive surgery is proposed, for which the motion decouplebility, position kinematics, configuration singularity and surgical geometry for MIS task are verified.

A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation Book
Author : Richard M. Murray
Publisher : CRC Press
Release : 2017-12-14
ISBN : 1351469797
File Size : 20,9 Mb
Language : En, Es, Fr and De

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Book Summary :

A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Parallel Robots

Parallel Robots Book
Author : J.P. Merlet
Publisher : Springer Science & Business Media
Release : 2006-07-01
ISBN : 1402041330
File Size : 36,6 Mb
Language : En, Es, Fr and De

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Book Summary :

Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 150 exercises and numerous internet addresses), researchers (with over 650 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results, mistakes to avoid, and applications are presented). Since the publication of the first edition (2000) there has been an impressive increase in terms of study and use of this kind of structure that are reported in this book. This second edition has been completely overhauled. The initial chapter on kinematics has been split into Inverse Kinematics and Direct Kinematics. A new chapter on calibration was added. The other chapters have also been rewritten to a large extent. The reference section has been updated to include around 45% new works that appeared after the first edition.

Fundamentals of Robotic Mechanical Systems

Fundamentals of Robotic Mechanical Systems Book
Author : Jorge Angeles
Publisher : Springer
Release : 2002-10-16
ISBN : 038795368X
File Size : 38,9 Mb
Language : En, Es, Fr and De

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Book Summary :

Modern robotics dates from the late 1960s, when progress in the development of microprocessors made possible the computer control of a multiaxial manipulator. Since then, robotics has evolved to connect with many branches of science and engineering, and to encompass such diverse fields as computer vision, artificial intelligence, and speech recognition. This book deals with robots - such as remote manipulators, multifingered hands, walking machines, flight simulators, and machine tools - that rely on mechanical systems to perform their tasks. It aims to establish the foundations on which the design, control and implementation of the underlying mechanical systems are based. The treatment assumes familiarity with some calculus, linear algebra, and elementary mechanics; however, the elements of rigid-body mechanics and of linear transformations are reviewed in the first chapters, making the presentation self-contained. An extensive set of exercises is included. Topics covered include: kinematics and dynamics of serial manipulators with decoupled architectures; trajectory planning; determination of the angular velocity and angular acceleration of a rigid body from point data; inverse and direct kinematics manipulators; dynamics of general parallel manipulators of the platform type; and the kinematics and dynamics of rolling robots. Since the publication of the previous edition there have been numerous advances in both the applications of robotics (including in laprascopy, haptics, manufacturing, and most notably space exploration) as well as in the theoretical aspects (for example, the proof that Husty's 40th-degree polynomial is indeed minimal - mentioned as an open question in the previous edition).

Fundamentals of Mechanics of Robotic Manipulation

Fundamentals of Mechanics of Robotic Manipulation Book
Author : Marco Ceccarelli
Publisher : Springer Science & Business Media
Release : 2013-03-09
ISBN : 1402021100
File Size : 49,5 Mb
Language : En, Es, Fr and De

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Book Summary :

This book has evolved from a course on Mechanics of Robots that the author has thought for over a dozen years at the University of Cassino at Cassino, Italy. It is addressed mainly to graduate students in mechanical engineering although the course has also attracted students in electrical engineering. The purpose of the book consists of presenting robots and robotized systems in such a way that they can be used and designed for industrial and innovative non-industrial applications with no great efforts. The content of the book has been kept at a fairly practical level with the aim to teach how to model, simulate, and operate robotic mechanical systems. The chapters have been written and organized in a way that they can be red even separately, so that they can be used separately for different courses and readers. However, many advanced concepts are briefly explained and their use is empathized with illustrative examples. Therefore, the book is directed not only to students but also to robot users both from practical and theoretical viewpoints. In fact, topics that are treated in the book have been selected as of current interest in the field of Robotics. Some of the material presented is based upon the author’s own research in the field since the late 1980’s.

Advances in Robot Kinematics 2016

Advances in Robot Kinematics 2016 Book
Author : Jadran Lenarčič,Jean-Pierre Merlet
Publisher : Springer
Release : 2017-07-26
ISBN : 3319568027
File Size : 29,6 Mb
Language : En, Es, Fr and De

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Book Summary :

This book brings together 46 peer-reviewed papers that are of interest to researchers wanting to know more about the latest topics and methods in the fields of the kinematics, control and design of robotic systems. These papers cover the full range of robotic systems, including serial, parallel and cable-driven manipulators, both planar and spatial. The systems range from being less than fully mobile, to kinematically redundant, to over-constrained. In addition to these more familiar areas, the book also highlights recent advances in some emerging areas: such as the design and control of humanoids and humanoid subsystems; the analysis, modeling and simulation of human-body motions; mobility analyses of protein molecules; and the development of machines that incorporate man.

New Advances in Mechanisms Transmissions and Applications

New Advances in Mechanisms  Transmissions and Applications Book
Author : Victor Petuya,Charles Pinto,Erwin-Christian Lovasz
Publisher : Springer Science & Business Media
Release : 2013-08-04
ISBN : 9400774850
File Size : 33,6 Mb
Language : En, Es, Fr and De

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Book Summary :

The Second Conference on Mechanisms, Transmissions and Applications - MeTrApp 2013 was organised by the Mechanical Engineering Department of the University of the Basque Country (Spain) under the patronage of the IFToMM Technical Committees Linkages and Mechanical Controls and Micromachines and the Spanish Association of Mechanical Engineering. The aim of the workshop was to bring together researchers, scientists, industry experts and students to provide, in a friendly and stimulating environment, the opportunity to exchange know-how and promote collaboration in the field of Mechanism and Machine Science. The topics treated in this volume are mechanism and machine design, biomechanics, mechanical transmissions, mechatronics, computational and experimental methods, dynamics of mechanisms and micromechanisms and microactuators.

Surgical Robotics

Surgical Robotics Book
Author : Jacob Rosen,Blake Hannaford,Richard M. Satava
Publisher : Springer Science & Business Media
Release : 2011-01-15
ISBN : 144191126X
File Size : 47,7 Mb
Language : En, Es, Fr and De

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Book Summary :

Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.