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Dynamics Modeling of a Magnetic Spherical Joint Based Parallel Brain Surgery Robot | IEEE Conference Publication | IEEE Xplore

Dynamics Modeling of a Magnetic Spherical Joint Based Parallel Brain Surgery Robot


Abstract:

In this paper, a 5 degree-of-freedom parallel brain surgery robot is introduced. The proposed brain surgery robot consists of a two rotational degree-of-freedom end effec...Show More

Abstract:

In this paper, a 5 degree-of-freedom parallel brain surgery robot is introduced. The proposed brain surgery robot consists of a two rotational degree-of-freedom end effector and a three translational degree-of-freedom linear Delta positioning platform. In order to eliminate the clearance exists in traditional spherical joint, magnetic spherical joint is adopted to construct the linear Delta positioning platform. Inverse kinematics of the positioning platform is derived. Further, velocity analysis and acceleration analysis are carried out. Based on which, inverse dynamics of the positioning platform is modeled based on the principle of virtual work. Relationship between the motion and actuation force is obtained. The derived dynamic model is implemented and verified in MATLAB software.
Date of Conference: 22-26 April 2018
Date Added to IEEE Xplore: 06 December 2018
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Conference Location: Singapore

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