On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism

2010 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Dynamic Modeling ◽  
Dynamic Models ◽  
Driving Forces ◽  
Dynamic Control ◽  
Inverse Kinematic ◽  
Design Stage ◽  
Inverse Dynamic ◽  
Surgical Tool ◽  
Tissue Manipulation ◽  
Clinical Experiments

The use of robotics to enhance visualization and tissue manipulation capabilities is contributing to the advancement of minimally invasive surgery (MIS). For the development of surgical robot manipulators, the use of advanced dynamic control is an important aspect at the design stage to determine the driving forces and/or torques which must be exerted by the actuators in order to produce a desirable trajectory of the end effector. Therefore, this study focuses on the generation of inverse dynamic models for a spherical bevel-geared mechanism called CoBRASurge (Compact Bevel-geared Robot for Advanced Surgery), which is used as a surgical tool manipulator. For given typical trajectories of end effectors in clinical experiments, the motion of each element in the mechanism can be derived using the inverse kinematic equations. The driving torques exerted by actuators can be determined according to the presented inverse dynamic formulations. The simulation results of CoBRASurge reveal the nature of the driving torques in spherical bevel-geared mechanisms. Such models can be used for the design of advanced dynamic control systems, including gravity compensation and haptic interfaces for enhanced surgical functionality. In addition, sensitivity analysis of mass contribution has been performed to evaluate the effect of individual elements on the peak driving torques, which provides a solid guideline for the design of the next-generation CoBRASurge prototype. The present dynamic modeling methodology also presents a general dynamic analysis approach for other spherical articulated linkage mechanisms.

On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism

2010 ◽  
Vol 4 (4) ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Sensitivity Analysis ◽  
Dynamic Modeling ◽  
Dynamic Models ◽  
Driving Forces ◽  
Dynamic Control ◽  
Design Stage ◽  
Inverse Dynamic ◽  
Surgical Tool ◽  
Tissue Manipulation ◽  
Clinical Experiments

The use of robotics to enhance visualization and tissue manipulation capabilities contributes to the advancement of minimally invasive surgery. For the development of surgical robot manipulators, the use of advanced dynamic control is an important aspect at the design stage to determine the driving forces and/or torques, which must be exerted by the actuators in order to produce a desirable trajectory of the end effector. Therefore, this study focuses on the generation of inverse dynamic models for a spherical bevel-geared mechanism called Compact Bevel-geared Robot for Advanced Surgery (CoBRASurge), which is used as a surgical tool manipulator. For given typical trajectories of end effectors in clinical experiments, the motion of each element in the mechanism can be derived using the inverse kinematic equations. The driving torques exerted by actuators can be determined according to the presented inverse dynamic formulations. The simulation results of CoBRASurge reveal the nature of the driving torques in spherical bevel-geared mechanisms. In addition, sensitivity analysis of mass contribution has been performed to evaluate the effect of individual elements on the peak driving torques. Dynamic models, such as the one presented, can be used for the design of advanced dynamic control systems, including gravity compensation and haptic interfaces for enhanced surgical functionality. The accompanying sensitivity analysis also provides a solid guideline for the design of the next generation CoBRASurge prototype. The present dynamic modeling methodology also gives a general dynamic analysis approach for other spherical articulated linkage mechanisms.

Dynamic Modeling of a Novel 3-DOF Micropositioning Table for Surface Grinding Control

2006 ◽  
Vol 304-305 ◽  
pp. 507-511 ◽  
Author(s):  
Yan Ling Tian ◽  
Da Wei Zhang ◽  
H.W. Chen
Keyword(s):  
Dynamic Modeling ◽  
Dynamic Characteristics ◽  
Dynamic Models ◽  
Dynamic Control ◽  
Piezoelectric Actuators ◽  
Experimental Tests ◽  
Open Loop ◽  
Surface Grinding ◽  
Flexure Hinge ◽  
High Dynamic

In order to realize dynamic control during surface grinding, a 3-DOF (degree of freedom) micropositioning table driven by three piezoelectric actuators has been developed. The monolithic flexure hinge mechanism is utilized to provide preload for the piezoelectric actuators. The table has an outline dimension of Φ150×145 mm and a working range of 12 µm. The resolution of the table is less than 5 nm and the stiffness under open loop condition is approximately up to 94 N/µm. The design of the micropositioning table is presented with consideration to achieve the high dynamic characteristics. The dynamic models of the table have been established. Experimental tests have been carried out to verify the performance of the micropositioning table and the established models.

Driving force analysis for the secondary adjustable system in FAST

Robotica ◽  
2011 ◽  
Vol 29 (6) ◽  
pp. 903-915 ◽  
Author(s):  
Zhu-Feng Shao ◽  
Xiaoqiang Tang ◽  
Xu Chen ◽  
Li-Ping Wang
Keyword(s):  
Trajectory Optimization ◽  
Driving Force ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Driving Forces ◽  
Euler Method ◽  
Central Component ◽  
Force Analysis ◽  
Inverse Dynamic ◽  
Driving Force Analysis

SUMMARYThe Secondary Adjustable System (SAS) addressed here is a central component of the Five-hundred-meter Aperture Spherical radio Telescope (FAST). It is a 6-degree-of-freedom rigid Stewart manipulator, in which one platform (the end-effector) should be controlled to track-desired trajectory when another platform (denoted as the base) is moving. Driving force analysis of the SAS is the basis for selecting rational servomotors and guaranteeing the dynamic performance, which will affect the terminal pose accuracy of the FAST. In order to determine the driving forces of the SAS, using the Newton–Euler method, the inverse dynamics of the Stewart manipulator is modeled by considering the motion of the base. Compared with the traditional dynamic models, the inverse dynamic model introduced here possesses an inherent wider application range. By adopting the kinematic and dynamic parameters of the FAST prototype, the driving force analysis of the SAS is carried out, and the driving force optimization strategies are proposed. Calculation and analysis presented in the paper reveal that there are three main factors affecting the driving forces of the SAS. In addition, the driving force analysis of this paper lays out guidelines for the design and control of the FAST prototype, as well as the structure and trajectory optimization.

Revisiting the inverse dynamics of the Gough–Stewart platform manipulator with special emphasis on universal–prismatic–spherical leg and internal singularity

2012 ◽  
Vol 226 (10) ◽  
pp. 2422-2439 ◽  
Author(s):  
Mohamed Afroun ◽  
Antoine Dequidt ◽  
Laurent Vermeiren
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Dynamic Models ◽  
Inverse Dynamics ◽  
Driving Forces ◽  
Stewart Platform ◽  
Inverse Dynamic ◽  
Computational Burden ◽  
Six Degrees Of Freedom ◽  
Leg Kinematics

This article discusses the dynamic modeling for control of Gough–Stewart platform manipulator with special emphasis on universal–prismatic–spherical leg kinematics. Inverse dynamic model of these six degrees of freedom parallel manipulator robots is reviewed, while complete dynamics with true kinematics of universal–prismatic–spherical legs is compared with several models found in the literature. Most existing models have not taken into account some of the legs kinematical effects, namely the legs angular velocity around their axes and the internal singularities due to passive joints; some other used a simplified parameterization to describe the leg kinematics. Furthermore, some kinetic assumption can be used to reduce the computational burden. This article shows the effect of all these simplifications on the driving forces by simulating the different dynamic models for a commercial manipulator and for different sets of geometric and dynamic parameters of manipulator.

Dynamic Modeling of a High-Dynamic Flight Simulator

2014 ◽  
Vol 687-691 ◽  
pp. 610-615 ◽  
Author(s):  
Hui Liu ◽  
Li Wen Guan
Keyword(s):  
Dynamic Modeling ◽  
Degrees Of Freedom ◽  
Flight Simulator ◽  
Inverse Dynamic ◽  
Dynamic Formulation ◽  
Time Histories ◽  
Rotational Degrees Of Freedom ◽  
High Dynamic ◽  
Euler Approach ◽  
Simulation Results

High-dynamic flight simulator (HDFS), using a centrifuge as its motion base, is a machine utilized for simulating the acceleration environment associated with modern advanced tactical aircrafts. This paper models the HDFS as a robotic system with three rotational degrees of freedom. The forward and inverse dynamic formulations are carried out by the recursive Newton-Euler approach. The driving torques acting on the joints are determined on the basis of the inverse dynamic formulation. The formulation has been implemented in two numerical simulation examples, which are used for calculating the maximum torques of actuators and simulating the time-histories of kinematic and dynamic parameters of pure trapezoid Gz-load command profiles, respectively. The simulation results can be applied to the design of the control system. The dynamic modeling approach presented in this paper can also be generalized to some similar devices.

Kinetic and Dynamic Modeling of Single ActuatorWave-Like Robot

Robotica ◽  
2019 ◽  
Vol 37 (11) ◽  
pp. 1971-1986
Author(s):  
Ruoyu Feng ◽  
Peng Zhang ◽  
Junfeng Li ◽  
Hexi Baoyin
Keyword(s):  
Power Consumption ◽  
Dynamic Analysis ◽  
Dynamic Modeling ◽  
Dynamic Equation ◽  
Kinematic Model ◽  
Theoretical Models ◽  
Equation Of Motion ◽  
Kinematics And Dynamics ◽  
Inverse Dynamic ◽  
Inverse Dynamic Analysis

SummaryIn this study, the kinematics and dynamics of a single actuator wave (SAW)-like robot are explored. Comprising a helical spine and links, SAW has the potential for miniaturization. A kinematic model for SAW is firstly established, and the dynamic equation of motion is derived based on Kane’s method. For validation, the motion of SAW is simulated using both MATLAB and ADAMS, and the comparison of results demonstrates the effectiveness of the theoretical models. Then the inverse dynamic analysis is performed to reveal the power consumption. Finally, robot prototypes are developed and tested to confirm the robot velocity predicted by simulations.

Inverse dynamic modeling of a parallel wrist rehabilitation robot towards an assistive control modality

2021 ◽  
Author(s):  
Bogdan Gherman ◽  
Alexandru Banica ◽  
Paul Tucan ◽  
Calin Vaida ◽  
Tiberiu Antal ◽  
...  
Keyword(s):  
Dynamic Modeling ◽  
Rehabilitation Robot ◽  
Inverse Dynamic
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