一冗余自由度并联颅底手术机械臂的工作空间分析

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.977222

S. Bai, M. Teo, W. Ng, Charlie Sim

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引用次数: 19

摘要

并联机械手具有较高的刚度和运动精度，可用于医疗手术。然而，一般机械手的工作空间小且分布奇怪，限制了其应用。本文引入了一种具有冗余自由度的特殊机械臂(7-DOF)来改善工作空间。针对所选择的姿态，对机械手的工作空间进行了分析。考虑了两种7-DOF构型。初步分析结果表明，采用冗余自由度可以有效地改善机械手的工作空间。

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Workspace analysis of a parallel manipulator with one redundant DOF for skull-base surgery

A parallel manipulator can be used for medical operations for its high stiffness and motion accuracy. However, the small and oddly distributed workspace of the general manipulator limits its applications. In this paper, a special manipulator which has a redundant degree of freedom (the 7-DOF) is introduced to improve the workspace. The workspace of the manipulator was analyzed with respect to the selected orientations. Two configurations of the 7-DOF were considered. The preliminary result of the analysis shows that the workspace of the manipulator can be effectively improved with the redundant degree of freedom.

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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