| contributor author | Cao, Wen-ao | |
| contributor author | Xu, Shi-jie | |
| contributor author | Rao, Kun | |
| contributor author | Ding, Tengfei | |
| date accessioned | 2019-09-18T09:00:49Z | |
| date available | 2019-09-18T09:00:49Z | |
| date copyright | 5/23/2019 12:00:00 AM | |
| date issued | 2019 | |
| identifier issn | 1050-0472 | |
| identifier other | md_141_10_104501 | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4257878 | |
| description abstract | A novel two degree-of-freedom (2-DOF) parallel mechanism with remote center-of-motion (RCM) is proposed for minimally invasive surgical applications in this paper. A surgical manipulator with expected three-rotation and one-translation (3R1T) outputs can be obtained by serially connecting a revolute pair (R) and a prismatic pair (P) to the mechanism. First, kinematics of the new mechanism is analyzed and the corresponding velocity Jacobin matrix is established. Then, singularity identification of the mechanism is performed based on screw theory. Further, main dimensions of the mechanism are designed, and a physical prototype is developed to verify the effectiveness of executing RCM. The proposed mechanism has relatively simple kinematics, and can obtain a noninterference and nonsingularity cone workspace with the top angle of 60 deg based on a compact structure. | |
| publisher | American Society of Mechanical Engineers (ASME) | |
| title | Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery | |
| type | Journal Paper | |
| journal volume | 141 | |
| journal issue | 10 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4043583 | |
| journal fristpage | 104501 | |
| journal lastpage | 104501-7 | |
| tree | Journal of Mechanical Design:;2019:;volume( 141 ):;issue: 010 | |
| contenttype | Fulltext | |
