Structure, Kinematics, and Prototyping of a Parallel Manipulator with a Remote Center of Rotation

Мұқаба

Дәйексөз келтіру

Толық мәтін

Ашық рұқсат Ашық рұқсат
Рұқсат жабық Рұқсат берілді
Рұқсат жабық Тек жазылушылар үшін

Аннотация

A mechanism with a remote center of rotation, intended for use in medicine, and in particular, minimally invasive operations, is discussed. The basic mechanism consists of two parallelograms with common links, which allows the surgical instrument to duplicate the movement of the drive link of the mechanism. To ensure greater rigidity of the mechanism, it is proposed to introduce drive redundancy through the use of an additional RRR dyad with a drive pair. The position problem has been solved for the resulting mechanism. A 3D model and a prototype of the mechanism have been also presented.

Авторлар туралы

V. Glazunov

Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN)

Email: pav.and.lar@gmail.com
Moscow, Russia

P. Laryushkin

Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN); Bauman Moscow State Technical University

Email: pav.and.lar@gmail.com
Moscow, Russia; Moscow, Russia

K. Shalyukhin

Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN)

Хат алмасуға жауапты Автор.
Email: pav.and.lar@gmail.com
Moscow, Russia

Әдебиет тізімі

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© В.А. Глазунов, П.А. Ларюшкин, К.А. Шалюхин, 2023

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