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
Publsiher: Unknown
Total Pages: 572
Release: 2011
Genre: Surgery
ISBN: OCLC:757402041

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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.

A Mathematical Introduction to Robotic Manipulation

A Mathematical Introduction to Robotic Manipulation
Author: Richard M. Murray
Publsiher: CRC Press
Total Pages: 503
Release: 2017-12-14
Genre: Technology & Engineering
ISBN: 9781351469791

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A Mathematical Introduction to Robotic Manipulation presents a mathematical formulation of the kinematics, dynamics, and control of robot manipulators. It uses an elegant set of mathematical tools that emphasizes the geometry of robot motion and allows a large class of robotic manipulation problems to be analyzed within a unified framework. The foundation of the book is a derivation of robot kinematics using the product of the exponentials formula. The authors explore the kinematics of open-chain manipulators and multifingered robot hands, present an analysis of the dynamics and control of robot systems, discuss the specification and control of internal forces and internal motions, and address the implications of the nonholonomic nature of rolling contact are addressed, as well. The wealth of information, numerous examples, and exercises make A Mathematical Introduction to Robotic Manipulation valuable as both a reference for robotics researchers and a text for students in advanced robotics courses.

Parallel Robots

Parallel Robots
Author: J.P. Merlet
Publsiher: Springer Science & Business Media
Total Pages: 388
Release: 2001-11-30
Genre: Technology & Engineering
ISBN: 1402003854

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Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity and ability to manipulate large loads. Parallel robots have been used in a large number of applications ranging from astronomy to flight simulators and are becoming increasingly popular in the field of machine-tool industry. This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism. It is intended to be used by students (with over 100 exercises and numerous Internet addresses), researchers (with over 500 references and anonymous ftp access to the code of some algorithms presented in this book) and engineers (for which practical results and applications are presented).

International Symposium on History of Machines and Mechanisms

International Symposium on History of Machines and Mechanisms
Author: Hong-Sen Yan,Marco Ceccarelli
Publsiher: Springer Science & Business Media
Total Pages: 386
Release: 2009-01-11
Genre: Science
ISBN: 9781402094859

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The International Symposium on the History of Machines and Mechanisms is the main activity of the Permanent Commission (PC) for the History of Mechanism and Machine Science (HMM) of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM). The first symposium, HMM2000, was initiated by Dr. Marco Ceccarelli and was held at the University of Cassino (Cassino, Italy) on May 11–13, 2000. The second symposium, HMM2004, was chaired by Dr. Marco Ceccarelli and held at the same venue on May 12–15, 2004. The third symposium, HMM2008, was chaired by Dr. Hong-Sen Yan and held at the National Cheng Kung University (Tainan, Taiwan) on November 11–14, 2008. The mission of IFToMM is to promote research and development in the field of machines and mechanisms by theoretical and experimental methods, along with their practical applications. The aim of HMM2008 is to establish an international forum for presenting and discussing historical developments in the field of Mechanism and Machine Science (MMS). The subject area covers all aspects of the development of HMM, such as machine, mechanism, kinematics, design method, etc., that are related to people, events, objects, anything that assisted in the development of the HMM, and presented in the forms of reasoning and ar- ments, demonstration and identification, and description and evaluation.

Surgical Robotics

Surgical Robotics
Author: Jacob Rosen,Blake Hannaford,Richard M. Satava
Publsiher: Springer Science & Business Media
Total Pages: 819
Release: 2011-01-15
Genre: Technology & Engineering
ISBN: 9781441911261

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Surgical robotics is a rapidly evolving field. With roots in academic research, surgical robotic systems are now clinically used across a wide spectrum of surgical procedures. Surgical Robotics: Systems Applications and Visions provides a comprehensive view of the field both from the research and clinical perspectives. This volume takes a look at surgical robotics from four different perspectives, addressing vision, systems, engineering development and clinical applications of these technologies. The book also: -Discusses specific surgical applications of robotics that have already been deployed in operating rooms -Covers specific engineering breakthroughs that have occurred in surgical robotics -Details surgical robotic applications in specific disciplines of surgery including orthopedics, urology, cardiac surgery, neurosurgery, ophthalmology, pediatric surgery and general surgery Surgical Robotics: Systems Applications and Visions is an ideal volume for researchers and engineers working in biomedical engineering.

Fundamentals of Robotic Mechanical Systems

Fundamentals of Robotic Mechanical Systems
Author: Jorge Angeles
Publsiher: Springer
Total Pages: 528
Release: 2013-03-09
Genre: Technology & Engineering
ISBN: 9781475727081

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Mechanical engineering, an engineering discipline borne of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound is sues of productivity and competitiveness that require engineering solutions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for information in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that covers a broad range of concentrations important to mechanical engineering graduate education and research. We are fortunate to have a distinguished rost er of consulting editors on the advisory board, each an expert in one the areas of concentra tion. The names of the consulting editors are listed on the next page of this volume. The areas of concentration are: applied mechanics; biome chan ics; computational mechanics; dynamic systems and control; energetics; mechanics of materials; processing; thermal science; and tribology.

Type Synthesis of Parallel Mechanisms

Type Synthesis of Parallel Mechanisms
Author: Xianwen Kong,Clément M. Gosselin
Publsiher: Springer
Total Pages: 276
Release: 2007-10-28
Genre: Technology & Engineering
ISBN: 9783540719908

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This unique monograph focuses on the systematic type synthesis of parallel mechanisms (PMs), a key issue in the creative design of a wide variety of innovative devices such as parallel manipulators, motion simulators, and haptic devices. Essential reading for researchers, developers, engineers and graduate students with interests in robotics, this book covers the classification of PMs as well as providing a large number of PMs ready to be used in practical applications.

New Trends in Mechanism Science

New Trends in Mechanism Science
Author: Doina Pisla,Marco Ceccarelli,Manfred Husty,Burkhard J. Corves
Publsiher: Springer Science & Business Media
Total Pages: 710
Release: 2010-08-12
Genre: Technology & Engineering
ISBN: 9789048196890

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After two succesful conferences held in Innsbruck (Prof. Manfred Husty) in 2006 and Cassino in 2008 (Prof Marco Ceccarelli) with the participation of the most important well-known scientists from the European Mechanism Science Community, a further conference was held in Cluj Napoca, Romania, in 2010 (Prof. Doina Pisla) to discuss new developments in the field. This book presents the most recent research advances in Mechanism Science with different applications. Amongst the topics treated are papers on Theoretical kinematics, Computational kinematics, Mechanism design, Mechanical transmissions, Linkages and manipulators, Mechanisms for biomechanics, Micro-mechanisms, Experimental mechanics, Mechanics of robots, Dynamics of multi-body systems, Dynamics of machinery, Control issues of mechanical systems, Novel designs, History of mechanism science etc.