Design of a novel serial and parallel force feedback master manipulator

Author

Wang, Hongmin ; Wu, Dongmei ; Du, Zhijiang ; Yan, Zhiyuan ; Li, Changjun

Author_Institution

State Key Lab. of Robot. & Syst., HIT, Harbin, China

fYear

2010

fDate

14-18 Dec. 2010

Firstpage

1710

Lastpage

1715

Abstract

This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator such as parallel mechanism inverse kinematics and forward kinematics, jacobian matrix and serial mechanism kinematics are given. Thirdly, the master manipulator workspace is analyzed, and the master manipulator static stiffness for the three points in the workspace is also analyzed. Finally, the force feedback simulation experiment is carried out to verify the parallel mechanism force feedback. It can be seen that this novel serial and parallel master manipulator meets the design requirements and future force feedback.

Keywords

Jacobian matrices; force feedback; manipulator kinematics; medical robotics; position control; surgery; force feedback master manipulator; forward kinematics; inverse kinematics; jacobian matrix; kinematics analysis; laparoscopic minimally invasive surgery; posture control; serial mechanism kinematics; Clamps; Equations; Force; Force feedback; Kinematics; Manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on

Conference_Location

Tianjin

Print_ISBN

978-1-4244-9319-7

Type

conf

DOI

10.1109/ROBIO.2010.5723589

Filename

5723589