Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery

2012 ◽  
Author(s):  
Chao Chen ◽  
Xing-guang Duan ◽  
Xing-tao Wang ◽  
Xiang-yu Zhu ◽  
Meng Li
Keyword(s):  
Trajectory Planning ◽  
Maxillofacial Surgery ◽  
Kinematics Analysis ◽  
Robot Assisted ◽  
Medical Robot

scholarly journals Development of a Robot-Assisted Surgery System for Cranio-Maxillofacial Surgery

2016 ◽  
pp. 65-72 ◽  
Author(s):  
Chuanbin Guo ◽  
Jiang Deng ◽  
Xingguang Duan ◽  
Li Chen ◽  
Xiaojing Liu ◽  
...  
Keyword(s):  
Maxillofacial Surgery ◽  
Robot Assisted ◽  
Robot Assisted Surgery

scholarly journals Kinematics Analysis and Trajectory Planning of collaborative welding robot with multiple manipulators

Procedia CIRP ◽  
2019 ◽  
Vol 81 ◽  
pp. 1034-1039 ◽  
Author(s):  
Xuemei Liu ◽  
Chengrong Qiu ◽  
Qingfei Zeng ◽  
Aiping Li
Keyword(s):  
Trajectory Planning ◽  
Kinematics Analysis ◽  
Welding Robot ◽  
Multiple Manipulators

Design of a 5-DOF Rehabilitation Robot Mechanism for Upper Limb and its Kinematics Analysis

2010 ◽  
Vol 29-32 ◽  
pp. 293-298 ◽  
Author(s):  
Zhi Lan ◽  
Zhen Liang Li ◽  
Ya Li
Keyword(s):  
Activities Of Daily Living ◽  
Upper Limb ◽  
Trajectory Planning ◽  
Daily Living ◽  
Rehabilitation Robot ◽  
Kinematics Analysis ◽  
Important Data ◽  
Upper Limb Rehabilitation ◽  
Set Up ◽  
Limb Rehabilitation

A novel 5-DOF upper limb rehabilitation robot, which can implement single joint and multi-joint complex motions and provide activities of daily living (ADL) training for hemiplegic patients, was presented. The solutions of the robot’s kinematics equation were set up by the method of D-H according to the 5-DOF rehabilitation robot for upper limb. Based on the software of ADAMS, the mechanism was simulated and analyzed. Thus the movement of robot is determinate in a certain condition of importation. It offered important data for the trajectory planning and the actual intellective control of rehabilitating robot.

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

2013 ◽  
Vol 198 ◽  
pp. 3-8 ◽  
Author(s):  
Roman Trochimczuk
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Forward Kinematics ◽  
Kinematic Structure ◽  
Kinematics Analysis ◽  
Medical Robot ◽  
Surgical Robots

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

Sign in / Sign up

Export Citation Format

Share Document