Mechanical Design and Workspace Optimization of a Flexible Parallel Manipulator for Minimally Invasive Surgery

Zihan Zhou, Fengyi Shi, Zhuoheng Li, Jiaxun Li, Runtian Zhang, Chao Qian, Xingguang Duan, Changsheng Li*

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

Minimally invasive surgery (MIS) provides adequate benefits such as less trauma, higher safety and shorter recovery cycle. However, the limited dexterity in small size and low load capacity of current surgical robots prevents its development. This paper proposes a flexible surgical manipulator with a two-stage 3-PRS mechanism. The mechanical design of the manipulator is described in detail and the kinematic model is established. The analytical expression of the inverse kinematics solution of the proposed mechanism is derived by solving the motion equation. Based on the inverse kinematics solution, the reachable workspace of the manipulator is achieved, considering the geometric constraints. The influence of main parameters of the proposed manipulator on its reachable workspace is explained via parameter analysis. Results show that these parameters of the radius of the platforms and the length of the connecting links are related to the reachable workspace of the manipulator. Furthermore, a mechanism prototype is presented and the working principle of the parallel mechanism is verified.

源语言英语
主期刊名2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
出版商Institute of Electrical and Electronics Engineers Inc.
272-277
页数6
ISBN(电子版)9781665481090
DOI
出版状态已出版 - 2022
活动2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022 - Jinghong, 中国
期限: 5 12月 20229 12月 2022

出版系列

姓名2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

会议

会议2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
国家/地区中国
Jinghong
时期5/12/229/12/22

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