A PARALLEL 5 DOF POSITIONER FOR SEMI-SPHERICAL WORKSPACES

机译：半球形工作空间的平行5自由度定位器

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In this paper, a new five-degree-of-freedom parallel manipulator is described and modeled. This structure has been specially designed for medical applications that require in the same time mobility, compactness and accuracy around a functional point. The purpose of this robotic device is to help practitioners to perform accurate needle insertions while preserving them from harmful intra-operative X-ray imaging devices. The system is built from revolute joints, among which only five joints are actuated to convey the required five degrees of freedom to its moving platform. A numerical simulation of the workspace and a physical prototype are presented.

机译：在本文中，对新型五自由度并联机械手进行了描述和建模。该结构是专门为医疗应用而设计的，这些医疗应用需要在功能点附近同时具有移动性，紧凑性和准确性。该机器人设备的目的是帮助从业人员执行准确的针头插入操作，同时保护针头不受有害的术中X射线成像设备的影响。该系统由旋转关节构造而成，其中只有五个关节被致动以将所需的五个自由度传递到其移动平台。给出了工作空间的数值模拟和物理原型。

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《American Society of Mechanical Engineers(ASME) Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2004(DETC 2004) vol.2 pt B: Biennial Mechanisms and Robotics Conference; 20040928-1002; Salt Lake City,UT(US)》|2004年|P.1033-1042|共10页
会议地点 Salt Lake CityUT(US)
作者
Benjamin Maurin; Bernard Bayle; Olivier Piccin; Jacques Gangloff; Michel de Mathelin;
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作者单位

LSIIT (UMR CNRS-ULP 7005), Strasbourg I University Bd. S. Brant, BP 10413, 67412 Illkirch cedex, FRANCE;

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原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
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专利

1. Kinematic modeling of a 5-DOF parallel mechanism for semi-spherical workspace [J] . O. Piccin, B. Bayle, B. Maurin, Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2009,第8期

机译：半球形工作空间的5自由度并联机构的运动学建模
2. A study on workspace, boundary workspace analysis and workpiece positioning for parallel machine tools [J] . Zhe Wang, Zhixing Wang, Wentao Liu, Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2001,第5期

机译：平行机床工作空间，边界工作空间分析和工件定位的研究
3. Inverse and forward kinematics and workspace analysis of a novel 5-DOF (3T2R) parallel–serial (hybrid) manipulator [J] . Anton Antonov, Alexey Fomin, Victor Glazunov, International Journal of Advanced Robotic Systems . 2021,第2期

机译：新型5-DOF（3T2R）并行串行（混合）操纵器的逆向和前向运动学和工作区分析
4. A PARALLEL 5 DOF POSITIONER FOR SEMI-SPHERICAL WORKSPACES [C] . Benjamin Maurin, Bernard Bayle, Olivier Piccin, ASME Design Engineering Technical Conferences . 2004

机译：用于半球形工作空间的平行5 DOF定位器
5. Kinematic, dynamic and workspace analysis of a novel 6-DOF parallel manipulator. [D] . Shah, Hrishi L. 2010

机译：新型6自由度并联机械手的运动学，动态和工作区分析。
6. Positioning Error Analysis and Control of a Piezo-Driven 6-DOF Micro-Positioner [O] . Chao Lin, Shan Zheng, Pingyang Li, 2019

机译：压电驱动6自由度微定位器的定位误差分析与控制
7. Workspace analysis of 3-DOF U-shape base planar parallel robotic motion stage using shape memory alloy restoration technique (SMART) linear actuators [O] . Deep Singh, Rutupurna Choudhury, Yogesh Singh, 2021

机译：使用形状记忆合金恢复技术（SMART）线性致动器的3-DOF U形基础平面平行机器人运动阶段的工作区分析
8. Redundant, 6-DOF parallel manipulator structure with improved workspace and dexterity [R] . Stoughton, R. S., Salerno, R., Canfield, S., 1994

机译：冗余的6-DOF并联机械手结构，具有改进的工作空间和灵活性

A PARALLEL 5 DOF POSITIONER FOR SEMI-SPHERICAL WORKSPACES

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