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 MoreMetadata
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.
Published in: 2018 IEEE 13th Annual International Conference on Nano/Micro Engineered and Molecular Systems (NEMS)
Date of Conference: 22-26 April 2018
Date Added to IEEE Xplore: 06 December 2018
ISBN Information: