Experimental and Theoretical Design Analysis and Modeling of a CT Image Guided Robotic Arm

2018 International Conference on Engineering, Applied Sciences, and Technology (ICEAST) Pub Date : 2018-07-01 DOI:10.1109/iceast.2018.8434464

S. Shah, Ruby Mishra, Gourishankar Mohapatro

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引用次数: 2

Abstract

This research attempts to design a robotic arm that can help doctors with biopsies which is guided by using CT scan images. This robotic arm will only need X, Y and Z target coordinate points as input and the end needle of the robotic arm will travel to that desired coordinate point. A robotic arm will be steady, accurate, precise and tremor free. This robotic arm has 5 DOF. Transformation matrix for such robotic arm is formulated using forward and inverse kinematics. Workspace graph is produced in MATLAB. Path tracing simulation of the robotic arm is done using joint space method and Cartesian coordinate method using MATLAB software and RVC toolbox. An actual working model of the robotic arm is developed using stepper motors as actuators. Experimental Testing of the robotic arm is done by programming the robotic arm Using ARDUINO to reach a desired point on the surface of an apple. Slight deviation in theoretical and experimental testing was found. The reason for error are found by graphing noise in the circuit in real time in LABVIEW oscilloscope using MYDAQ connected to stepper motor.

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CT图像引导机械臂的实验与理论设计分析与建模

这项研究试图设计一种机械臂，可以帮助医生在使用CT扫描图像的指导下进行活组织检查。该机械臂只需要X、Y、Z三个目标坐标点作为输入，机械臂的末端针将移动到该目标坐标点。机械臂将是稳定、精确、精确和无震颤的。这个机械臂有5个自由度。利用运动学正解和运动学逆解建立了该机械臂的变换矩阵。在MATLAB中生成工作空间图。利用MATLAB软件和RVC工具箱，采用关节空间法和直角坐标法对机械臂进行轨迹跟踪仿真。采用步进电机作作动器，建立了机械臂的实际工作模型。机械臂的实验测试是通过ARDUINO对机械臂进行编程，使其达到苹果表面所需的点。理论测试和实验测试结果略有偏差。利用MYDAQ与步进电机连接，在LABVIEW示波器上实时绘制电路噪声图，找出产生误差的原因。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2018 International Conference on Engineering, Applied Sciences, and Technology (ICEAST)

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