TY - JOUR
T1 - Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - Workspace analysis, workspace control, and stiffness evaluation
AU - Koseki, Yoshihiko
AU - Koyachi, Noriho
AU - Arai, Tatsuo
AU - Chinzei, Kiyoyuki
PY - 2003
Y1 - 2003
N2 - In this paper, a novel mechanism of remote actuation was proposed and its mechanical problems were discussed. This mechanism consists of leverage and parallelogram mechanism and transmits 3 d.o.f translational and 3 d.o.f rotational motions from the input to output. Such a remote actuation is significantly useful for robotic assist around MRI where the strong and precise magnet is used for imaging, because mutual effect between MRI and robot are inverse proportional to the distance. In this paper, the basic ideas of mechanism were introduced firstly. The discussions of its stiffness and workspace conclude their trade-off. Our new idea of workspace control for mechanical safety is preliminary discussed.
AB - In this paper, a novel mechanism of remote actuation was proposed and its mechanical problems were discussed. This mechanism consists of leverage and parallelogram mechanism and transmits 3 d.o.f translational and 3 d.o.f rotational motions from the input to output. Such a remote actuation is significantly useful for robotic assist around MRI where the strong and precise magnet is used for imaging, because mutual effect between MRI and robot are inverse proportional to the distance. In this paper, the basic ideas of mechanism were introduced firstly. The discussions of its stiffness and workspace conclude their trade-off. Our new idea of workspace control for mechanical safety is preliminary discussed.
UR - http://www.scopus.com/inward/record.url?scp=0345307715&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:0345307715
SN - 1050-4729
VL - 1
SP - 652
EP - 657
JO - Proceedings - IEEE International Conference on Robotics and Automation
JF - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2003 IEEE International Conference on Robotics and Automation
Y2 - 14 September 2003 through 19 September 2003
ER -