Kinematics Analysis for a Hybrid Robot in Minimally Invasive Surgery

摘要：

this paper focuses on kinematics analysis for the 7-DOF (degree of freedom) hybrid robot in minimally invasive surgery. The serial structure of the hybrid robot has three DOF; the parallel structure of the hybrid robot has four DOF. First, the traditional method ‘D-H method is used to try to solve the kinematics of hybrid robot, but without success. Then a kinematics modeling method based on the ST (Spinor Theory) is presented. This method is named METM (Multi-layer Exponential Transformation Method). The process of solving the inverse displacements for all joints is analyzed. With this method, the joint displacements of 7-DOF hybrid robot are calculated. The METM method can be applicable for the kinematics of many hybrid robots, especially for redundant robots with more than six DOF.

关键词： kinematics surgery hybrid robot METM)Multi-layer Exponential Transformation Method redundant robot

作者: Can Tang Jianwei Zhang Sheng Cheng

作者单位: Laboratory of Intelligent Robot Engineering,Kunshan Industrial Technology Research Institute,Kunshan TAMS,University of Hamburg,Germany

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1941-1946

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）