KINEMATIC PARAMETERS MODELLING JOINT VARIABLES OF CARDIOSURGICAL TELEMANIPULATOR FOR ITS AUTONOMOUS MOVEMENTS

J. WOJNAROWSKI; G. ILEWICZ

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KINEMATIC PARAMETERS MODELLING JOINT VARIABLES OF CARDIOSURGICAL TELEMANIPULATOR FOR ITS AUTONOMOUS MOVEMENTS

机译：运动自律运动的心电参数操纵器关节变量的运动学参数建模

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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.

机译：本文对心脏外科远距操纵器定点机构的运动学进行了建模。提出了正向和反向运动学。推导了描述恒点机构工作空间体积的数学公式。它取决于机构运动学结构的关节变量。获得用于操作工具的自主运动的关节变量的可接受值。

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来源
《Applied Mechanics and Engineering》 |2012年第1期|p.259-269|共11页
作者
J. WOJNAROWSKI; G. ILEWICZ;
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作者单位

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

Silesian University of Technology Faculty of Mechanical Engineering POLAND;

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原文格式 PDF
正文语种 eng
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关键词
medical robot; positioning; workspace; constant point mechanism; denavit-hartenberg's transformation; determinant notation;

机译：医疗机器人定位;工作区定点机制;迪纳维特·哈滕伯格的蜕变;行列式符号;

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专利

1. KINEMATIC PARAMETERS MODELLING JOINT VARIABLES OF CARDIOSURGICAL TELEMANIPULATOR FOR ITS AUTONOMOUS MOVEMENTS [J] . J. WOJNAROWSKI, G. ILEWICZ International Journal of Applied Mechanics and Engineering . 2012,第1期

机译：运动自律运动的心电参数操纵器关节变量的运动学参数建模
2. Kinematic Parameters of Movement at the Shoulder Joint in Normal Gait in Humans [J] . L. A. Udochkina, O. I. Vorontsova, I. G. Mazin, Neuroscience and behavioral physiology . 2018,第8期

机译：人类正常步态肩关节运动运动的运动学参数
3. Kinematic Parameters of Movement at the Shoulder Joint in Normal Gait in Humans [J] . L. A. Udochkina, O. I. Vorontsova, I. G. Mazin, Neuroscience and behavioral physiology . 2018,第8期

机译：人类正常步态肩关节运动运动的运动学参数
4. Joint estimation of cardiac kinematics and material parameters from noisy imaging data and uncertain mechanical model [C] . Huafeng Liu, Lo, E.W.B., . 2002

机译：从嘈杂的成像数据和不确定的力学模型联合估算心脏运动学和材料参数
5. The Effects of Variable Quadriceps and Hamstring Loading Configurations on Knee Joint Kinematics During In Vitro Testing [D] . Shalhoub, Sami. 2012

机译：变量Quadriceps和Hamstring在体外测试中膝关节运动中的影响
6. A Biomechanical Model of the Scapulothoracic Joint to Accurately Capture Scapular Kinematics during Shoulder Movements [O] . Ajay Seth, Ricardo Matias, António P. Veloso, 2011

机译：肩or关节在肩部运动过程中准确捕获肩cap运动的生物力学模型。
7. Comparative assessment of knee joint models used in multi-body kinematics optimisation for soft tissue artefact compensation. Part of special issue: Human Movement Analysis: The Soft Tissue Artefact Issue [O] . 2017

机译：膝关节模型的比较评估，该模型用于多体运动学优化中的软组织伪影补偿。特刊的一部分：人体运动分析：软组织伪像问题
8. Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics. [R] . Unseren, M. A. 1993

机译：利用归一化四元数反馈推导三个闭环运动速度模型的自适应冗余机械手应用于逆运动学。

KINEMATIC PARAMETERS MODELLING JOINT VARIABLES OF CARDIOSURGICAL TELEMANIPULATOR FOR ITS AUTONOMOUS MOVEMENTS

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