Kinematic parameters modelling joint variables of cardiosurgical telemanipulator for its autonomous movements

• Autorzy: Wojnarowski J. , Ilewicz G.
• Języki publikacji: EN

Abstrakty

EN

Kinematics of a constant point mechanism of a cardiosurgical telemanipulator is modeled in the paper. Forward and invert kinematics is presented. A mathematical formula that describes the volume of workspace of a constant point mechanism is derived. It depends on joint variables of the kinematic structure of the mechanism. Acceptable values of joint variables for autonomous movements of the operating tool are obtained.

Słowa kluczowe

EN

medical robot; positioning; workspace; constant point mechanism; Denavit-Hartenberg's transformation; determinant notation

PL

robot medyczny; pozycjonowanie; notacje Denavita-Hartenberga

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 1
• Strony: 259--269
• Opis fizyczny: Bibliogr. 4 poz., rys., wykr.

Twórcy

autor

Wojnarowski J.

autor

Ilewicz G.

• Chair of the Polish Committee of the International Federation of Theory Machines and Mechanisms Silesian University of Technology Faculty of Mechanical Engineering POLAND,

Bibliografia

• Craig J. (1986): Introduction to Robotics. - Mechanics and Control Addison-Wesley Publishing Company, Inc. 1989.
• Denavit J. and Hartenberg R.S. (1955): A kinematic notation for lower kinematic pair based on matrices. - Journal of Applied Mechanics, vol.22, No.2, pp.215-221.
• Goldstein D. and Mehmet C. (2004): Minimally invasive cardiac surgery. - Second edition. New Jersey: Humana Press Totowa.
• Ilewicz G. and Wojnarowski J. (2011): Kinematics of constant point mechanism of cardiosurgical telemanipulator. - The 13th World Congress in Mechanism and Machine Science. GUANAJUATO.