A new 4-DOF parallel robot for MRI-guided percutaneous interventions: Kinematic analysis

2017 ◽  
Author(s):  
Jin Seob Kim ◽  
David Levi ◽  
Reza Monfaredi ◽  
Kevin Cleary ◽  
Iulian Iordachita
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robot ◽  
Percutaneous Interventions ◽  
Mri Guided

Automatic needle tracking using Mask R-CNN for MRI-guided percutaneous interventions

2020 ◽  
Vol 15 (10) ◽  
pp. 1673-1684
Author(s):  
Xinzhou Li ◽  
Adam S. Young ◽  
Steven S. Raman ◽  
David S. Lu ◽  
Yu-Hsiu Lee ◽  
...  
Keyword(s):  
Percutaneous Interventions ◽  
Mri Guided

Analysis and Optimization of a New Differentially Driven Cable Parallel Robot

2015 ◽  
Vol 7 (3) ◽  
Author(s):  
Hamed Khakpour ◽  
Lionel Birglen ◽  
Souheil-Antoine Tahan
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Cable Robot ◽  
Proper Design ◽  
Two Indices ◽  
Three Degrees Of Freedom ◽  
Cable Robots

In this paper, a new three degrees of freedom (DOF) differentially actuated cable parallel robot is proposed. This mechanism is driven by a prismatic actuator and three cable differentials. Through this design, the idea of using differentials in the structure of a spatial cable robot is investigated. Considering their particular properties, the kinematic analysis of the robot is presented. Then, two indices are defined to evaluate the workspaces of the robot. Using these indices, the robot is subsequently optimized. Finally, the performance of the optimized differentially driven robot is compared with fully actuated mechanisms. The results show that through a proper design methodology, the robot can have a larger workspace and better performance using differentials than the fully driven cable robots using the same number of actuators.

Kinematic analysis and design of a novel 6-degree of freedom parallel robot

2014 ◽  
Vol 229 (2) ◽  
pp. 291-303 ◽  
Author(s):  
DU Hui ◽  
GAO Feng ◽  
PAN Yang
Keyword(s):  
Set Theory ◽  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Design Methodology ◽  
Parallel Robot ◽  
End Effector ◽  
Analysis And Design ◽  
Velocity Models ◽  
Reachable Workspace ◽  
Rotational Motions

A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.

Design of a 6 DoF Parallel Robot for MRI-guided Interventions

2021 ◽  
Author(s):  
Mishek Musa ◽  
Saikat Sengupta ◽  
Yue Chen
Keyword(s):  
Parallel Robot ◽  
Mri Guided

Design of an Instrument Guide for MRI-Guided Percutaneous Interventions

2011 ◽  
Vol 5 (2) ◽  
Author(s):  
Xuefeng Chen ◽  
Conor J. Walsh ◽  
Kemal Tuncali ◽  
Alexander Slocum
Keyword(s):  
Percutaneous Interventions ◽  
Mri Guided

Kinematic Analysis of an Innovative Medical Parallel Robot Using Study Parameters

2016 ◽  
pp. 85-99 ◽  
Author(s):  
Calin Vaida ◽  
Doina Pisla ◽  
Josef Schadlbauer ◽  
Manfred Husty ◽  
Nicolae Plitea
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robot

A Novel 3-DOF Parallel Robot and its Kinematic Analysis

2014 ◽  
Vol 607 ◽  
pp. 759-763
Author(s):  
Xiao Bo Liu ◽  
Xiao Dong Yuan ◽  
Xiao Feng Wei ◽  
Wei Ni
Keyword(s):  
Motion Control ◽  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Degree Of Freedom ◽  
The Novel ◽  
Forward Displacement ◽  
Simulation Based ◽  
Simulation Results

This paper deals with the design and analysis of a novel and simple two-translation and one-rotation (3 degrees of freedom, 3-dof) mechanism for alignment. Firstly, degree of freedom of the parallel robot is solved based on the theory of screw. Secondly considering the demand of motion control, we have conducted the analysis on the 3-dof parallel robot, which includes inverse displacement, forward displacement, and simulation based on SolidWorks Motion. The simulation results indicate that the novel 3-dof robot is suitable for performing the required operations.

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

2020 ◽  
Vol 13 (1) ◽  
Author(s):  
Sven Lilge ◽  
Kathrin Nuelle ◽  
Georg Boettcher ◽  
Svenja Spindeldreier ◽  
Jessica Burgner-Kahrs
Keyword(s):  
Recent Work ◽  
Constant Curvature ◽  
Kinematic Analysis ◽  
Flexible Structures ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Continuum Robots ◽  
Advantages And Disadvantages ◽  
Reference Design ◽  
Exact Quantification

Abstract The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to benefit from their structural advantages, such as a high dexterity and compliance. While some applications and designs of these novel parallel continuum robots have been presented, the field remains largely unexplored. Furthermore, an exact quantification of the kinematic advantages and disadvantages when using continuous structures in parallel robots is yet to be performed. In this paper, planar parallel robot designs using tendon actuated continuum robots instead of rigid links and discrete joints are proposed. Using the well-known 3-RRR manipulator as a reference design, two parallel continuum robots are derived. Inverse and differential kinematics of these designs are modeled using constant curvature assumptions, which can be adapted for other actuation mechanisms than tendons. Their kinematic performances are compared to the conventional parallel robot counterpart. On the basis of this comparison, the advantages and disadvantages of using continuous structures in parallel robots are quantified and analyzed. Results show that parallel continuum robots can be kinematic equivalent and exhibit similar kinematic performances in comparison to conventional parallel robots depending on the chosen design.

Configuration Design and Displacement Analysis of a Novel Decoupled 3T2R Parallel Robot

2011 ◽  
Vol 308-310 ◽  
pp. 2037-2041
Author(s):  
Zhi Xin Shi ◽  
Mei Yan Ye
Keyword(s):  
Kinematic Analysis ◽  
Topological Structure ◽  
Theoretical Basis ◽  
Parallel Robot ◽  
Configuration Design ◽  
Displacement Analysis ◽  
Position And Orientation

Based on the control decoupled principle and approach of Position and Orientation Characteristic (in short, POC) set, a novel decoupled parallel robot with 3-Translation and 2-Rotation (in short, 3T2R) outputs has been presented in the paper. And the topological structure of this new mechanism is fully decoupled, which have the advantages of easily control, simple kinematic analysis, and so on. Then the structure and displacement analysis of this novel parallel robot have been accomplished. The research provides theoretical basis for design and practical applicability of this novel parallel robot.

Kinematic analysis and design of a 3-DOF translational parallel robot

2017 ◽  
Vol 14 (4) ◽  
pp. 432-441 ◽  
Author(s):  
Mahmood Mazare ◽  
Mostafa Taghizadeh ◽  
M. Rasool Najafi
Keyword(s):  
Kinematic Analysis ◽  
Parallel Robot ◽  
Analysis And Design
Sign in / Sign up

Export Citation Format

Share Document