{"title":"基于杠杆和平行四边形的磁共振兼容机械臂远程驱动机构——工作空间分析、工作空间控制和刚度评估","authors":"Y. Koseki, N. Koyachi, T. Arai, K. Chinzei","doi":"10.1109/ROBOT.2003.1241668","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"25","resultStr":"{\"title\":\"Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - workspace analysis, workspace control, and stiffness evaluation\",\"authors\":\"Y. Koseki, N. Koyachi, T. Arai, K. Chinzei\",\"doi\":\"10.1109/ROBOT.2003.1241668\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":315346,\"journal\":{\"name\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"volume\":\"2 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-11-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"25\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2003.1241668\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2003.1241668","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Remote actuation mechanism for MR-compatible manipulator using leverage and parallelogram - workspace analysis, workspace control, and stiffness evaluation
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
