The Joint Vibration Analysis of a Multi-Link Surgical Manipulator

• Autorzy: Leniowska L. , Leniowski R.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a vibration analysis of a multi-link surgical micromanipulator joint, based on its detailed mathematical model. The manipulator’s prototype contains 6 links with the diameter of 8–10 [mm] and with the length of the modules of about 130 [mm]. It is driven by brushless servomotors with worm and planetary gears, for which the total transmission ratio is above 1/10000. Regarding the low efficiency of micro-robot drive systems and its vibrations, a reliable joint model and its performance is crucial for the development of a high-precision control system. To achieve the required accuracy, modelling framework has been enriched with an advanced model of friction. Simulation results are presented and discussed.

Słowa kluczowe

EN

joint vibration; joint model; friction model; surgical manipulator

• Wydawca: Instytut Podstawowych Problemów Techniki PAN ; Komitet Akustyki PAN ; Polskie Towarzystwo Akustyczne
• Czasopismo: Archives of Acoustics
• Rocznik: 2012
• Tom: Vol. 37, No. 4
• Strony: 475--482
• Opis fizyczny: Bibliogr. 7 poz., wykr.

Twórcy

autor

Leniowska L.

autor

Leniowski R.

• Institute of Technology, University of Rzeszów Rejtana 16A, 35-959 Rzeszów, Poland,

Bibliografia

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• 2. Faulhaber GMBH: Brushless DC-Servomotors. Technical information, 2010
• 3. Leniowski R., Leniowska L. (2011), Mathematical Model of a Multi-Link Surgical Manipulator Joint with an Antiseptic Coating, Journal of Automation, Mobile Robotics & Intelligent Systems, 5, 3, 21-26.
• 4. Leniowski R., Pajda R., Leniowska L., Cieślik J. (2010), Design of a new generation multi-link surgical manipulator [in Polish], Proceedings of the 11th KKR Conference, Karpacz.
• 5. Olsson H., Åström K.J. (1996), Observer-based friction compensation, In Proceedings of the 35th IEEE Conference on Decision and Control, pp. 4345-4350, Kobe, Japan.
• 6. Podsędkowski L. (2008), Medical robots [in Polish], Proceedings of the 10th KKR Conference, pp. 23-48, Karpacz.
• 7. Tadano K., Kawashima K., Kojima K., Tanaka N. (2010), Development of a Pneumatic Surgical Manipulator IBIS IV, Journal of Robotics and Mechatronics, 22, 2.