运动学
滑轮
机器人
反向动力学
常曲率
计算机科学
模拟
机器人运动学
控制工程
曲率
控制理论(社会学)
工程类
人工智能
物理
机械工程
移动机器人
经典力学
数学
控制(管理)
几何学
作者
Zhengyu Wang,Shiyang Bao,Bin Zi,Zirui Jia,Xiang Yu
出处
期刊:Journal of Mechanisms and Robotics
[ASME International]
日期:2023-03-08
卷期号:16 (3)
被引量:8
摘要
Abstract This paper presents the design, analysis, and development of a novel four degrees of freedom (4-DOF) endoscopic robot with cable-driven multisegment flexible continuum mechanisms. The endoscopic robot is mainly composed of the passive positioning arm, cable-pulley system, and 3-DOF flexible continuum mechanism. The forward and inverse kinematics of the endoscopic robot are derived based on the constant curvature assumption, and its working space, flexibility, and preoperative incision determination method are analyzed as well. Based on the hardware structure of the robot system, a control strategy and a control software are developed, and the continuum mechanism is kinematically calibrated to carry out the trajectory planning experiment and simulated surgery experiment. The experimental results show that the calibrated constant curvature model can be used for the motion control of the continuum mechanism, and the 4-DOF endoscopic robot can meet the visual field requirements of minimally invasive surgery.
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