- Tytuł:
- Analysis of parallelogram mechanism used to preserve remote center of motion for surgical telemanipulator
- Autorzy:
- Trochimczuk, R.
- Powiązania:
- https://bibliotekanauki.pl/articles/266166.pdf
- Data publikacji:
- 2017
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
parallelogram mechanism
surgical telemanipulator
robot minimally invasive surgery
stiffness FEM analysis
RCM mechanism
telemanipulator chirurgiczny
analiza MES
metoda elementów skończonych - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mechanics and Engineering; 2017, 22, 1; 229-240
1734-4492
2353-9003 - Pojawia się w:
- International Journal of Applied Mechanics and Engineering
- Dostawca treści:
- Biblioteka Nauki
Artykuł