手术室辅助的三连杆重力平衡机构

IF 0.3 4区综合性期刊 Q4 MULTIDISCIPLINARY SCIENCES

Comptes Rendus De L Academie Bulgare Des Sciences Pub Date : 2023-10-31 DOI:10.7546/crabs.2023.10.11

Onur Denizhan

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引用次数: 0

摘要

重力补偿并不是一个新问题，重力平衡机制已经得到了广泛的研究。其中一些研究提出了重力平衡机制的实际应用，而另一些研究则侧重于该机制的理论建模。本文提出了一种用于手术室辅助的重力平衡平面机器人机械手的实际应用。在这个设计中，利用一个辅助平行四边形和两个线性弹簧来完成重力补偿。作为一个被动的重力平衡机构，它没有任何执行机构。该机构的新颖之处在于可交换的末端执行器和相应的可变弹簧附加位置。仿真结果表明，所设计的机构在所有构型下都是重力平衡的。本文提出的机制也可以推广到解决多连杆重力平衡问题。

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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A Three-link Gravity-balanced Mechanism for Operating Room Assistance

The compensation of gravity is not a new problem and gravity-balanced mechanisms have been extensively studied. Some of these studies present practical applications of the gravity-balanced mechanisms, while others focus on the theoretical modelling of the mechanism. In this study, a practical application, a gravity-balanced planar robotic manipulator for operating room assistance is presented. In this design, an auxiliary parallelogram with two linear springs is utilized to accomplish gravity compensation. As a passive gravity-balanced mechanism, it does not have any actuators. The novelty of the mechanism is the exchangeable end-effector and changeable spring attachment location accordingly. The simulation results show that the designed mechanism is gravity-balanced in all configurations. The presented mechanism in this study can also be extended to solve a multi-link gravity balance problem.

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来源期刊

Comptes Rendus De L Academie Bulgare Des Sciences 综合性期刊-综合性期刊

CiteScore

0.60

自引率

33.30%

发文量

181

审稿时长

3-6 weeks

期刊介绍： Founded in 1948 by academician Georgy Nadjakov, "Comptes rendus de l’Académie bulgare des Sciences" is also known as "Доклади на БАН","Доклады Болгарской академии наук" and "Proceeding of the Bulgarian Academy of Sciences". If applicable, the name of the journal should be abbreviated as follows: C. R. Acad. Bulg. Sci. (according to ISO)