Creator:

Trochimczuk, Roman

Contributor:

Jurczak, Paweł - red.

Title:

Analysis of parallelogram mechanism used to preserve remote center of motion for surgical telemanipulator

Group publication title:

IJAME, volume 22 (2017)

Subject and Keywords:

parallelogram mechanism ; surgical telemanipulator ; robot minimally invasive surgery ; stiffness FEM analysis ; RCM mechanism

Abstract:

This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2017

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.1515/ijame-2017-0013

Pages:

229-240

Source:

IJAME, volume 22, number 1 (2017)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego