Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery

Book Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery Cover

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery PDF book by Chin-Hsing Kuo Read Online or Free Download in ePUB, PDF or Kindle eBooks. Published in 01 October 2022 the book become immediate popular and critical acclaim in Surgery books. Click Download Book button to get book file. Read some info about this book below.

  • Publisher : Unknown
  • Release : 01 October 2022
  • ISBN : OCLC:757402041
  • Page : 572 pages
  • Total View : 1270 Views
  • Rating : 4.5/5 from 103 voters

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery Book PDF summary

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a crucial design challenge for surgical robots. Although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) parallel robot with RCM function is still highly anticipated. This thesis, therefore, is devoted to the structural synthesis and applications of decoupled parallel robots for minimally invasive surgery. Firstly, for identifying the kinematic design requirements in MIS task, a comprehensive review to the kinematic design for MIS robots is provided. Then, the structural synthesis of serial manipulators subject to specific motion constraints is presented, leading that an approach for the structural synthesis of parallel manipulators using motion constraint generator is developed. For achieving the motion decouplebility, the decoupled design of such motion-constraint-generator-based parallel manipulators is followed. Accordingly, a class of novel multi-DOF fully decoupled parallel manipulators, including the fully decoupled 4-DOF RCM parallel robot, is concluded. Next, for studying the special kinematics of the synthesized manipulators, position analysis of two decoupled parallel manipulators is illustrated, from which both inverse and direct kinematics solutions are derived. In addition, a unified method for the Jacobian analysis of the parallel manipulators using motion constraint generator is put forward for identifying the configuration singularity of the manipulators. Finally, a novel decoupled 4-DOF RCM parallel manipulator for minimally invasive surgery is proposed, for which the motion decouplebility, position kinematics, configuration singularity and surgical geometry for MIS task are verified.

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Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery
  • Author : Chin-Hsing Kuo,King's College London. Department of Mechanical Engineering
  • Publisher : Unknown
  • Total Download : 757
  • File Size : 50,8 Mb
DOWNLOAD BOOKSynthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery

Synthesis and Applications of Decoupled Parallel Manipulators Using Motion Constraint Generator for Minimally Invasive Surgery PDF book is popular Surgery book written by Chin-Hsing Kuo,King's College London. Department of Mechanical Engineering. The book was released by Unknown in 01 October 2022 with total hardcover pages 572. In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a crucial design challenge for surgical robots. Although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) parallel robot with RCM function is still highly anticipated. This thesis, therefore, is devoted to the structural synthesis and applications of decoupled parallel robots for minimally invasive surgery. Firstly, for identifying the kinematic design requirements in MIS task, a comprehensive review to the kinematic

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  • Publisher : Springer Science & Business Media
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