Forward Kinematics Simulation for a Surgical Robot Using CATIA 5

2015 ◽  
Vol 22 ◽  
pp. 21-28
Author(s):  
Shao Gang Liu ◽  
Farah Edris
Keyword(s):  
Minimally Invasive Surgery ◽  
Theoretical Calculations ◽  
Surgical Robot ◽  
Forward Kinematics ◽  
Kinematic Simulation ◽  
Kinematics Simulation ◽  
Robot Tracking ◽  
Simulation Results ◽  
Forward Kinematic ◽  
Theoretical Results

Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) and the efficiency of using the power full CATIA5 software to simulate surgical robot, and checking the robot mechanism capability of doing surgical procedures.

scholarly journals Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Yunwang Li ◽  
Sumei Dai ◽  
Yuwei Zheng ◽  
Feng Tian ◽  
Xucong Yan
Keyword(s):  
Virtual Prototype ◽  
Mobile System ◽  
Design Quality ◽  
Simulation Experiments ◽  
Motion Models ◽  
Kinematics Simulation ◽  
Simulation Results ◽  
Mecanum Wheel ◽  
Motion Characteristics ◽  
Theoretical Results

The innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is established in SolidWorks, and virtual prototype simulation is carried out in RecurDyn. The experience of simulation for the MWP in RecurDyn is introduced, and the simulation steps and points for attention are described detailedly. The working states of the mobile system in real environment have been simulated through virtual simulation experiments. Four typical motion models including moving forward, moving laterally, moving laterally in the direction of 45°, and rotation have been simulated in RecurDyn. The simulation results exactly reflect the motion of the MWP. By comparing the simulation results with the theoretical results, there are acceptable errors that are relatively less overall in the simulation results. The simulation results can be used to predict the performance of the platform and evaluate the design rationality, and design quality can be improved according to the exposed problem. This paper can provide reference for the simulation of mobile platform by using RecurDyn.

Forward Kinematics Simulation Analysis of Slider-Crank Mechanism

2011 ◽  
Vol 308-310 ◽  
pp. 1855-1859 ◽  
Author(s):  
Yu Qian ◽  
Yi Cao ◽  
Yuan Wei Liu ◽  
Hui Zhou
Keyword(s):  
Mathematical Model ◽  
Simulation Analysis ◽  
Simulation Models ◽  
Forward Kinematics ◽  
Forward Displacement ◽  
Matlab Simulink ◽  
Simulink Simulation ◽  
Kinematics Simulation ◽  
Theoretical Results ◽  
Crank Mechanism

This paper mainly addressed the kinematics simulation of the Slider-Crank mechanism. After proposing a mathematical model for the forward displacement of the slider-crank mechanism, the mathematical models for the forward velocity and acceleration of the slider-crank mechanism are constructed, respectively and the simulation models for the forward kinematics of the slider-crank mechanism are constituted in the Matlab/Simulink simulation platform. Finally the forward kinematics simulation of the slider-crank mechanism was successfully accomplished based on Matlab/Simulink. Examples of the simulation for the forward kinematics of a slider-crank mechanism are given to demonstrate the above-mentioned theoretical results.

MANUFACTURE INVESTIGATION OF CARTRIDGE WITH BOTTOM-MOST PART FLANGE BY DIRECT EXTRUSION WITH COUNTERPUNCH. REPORT 18. EXPERIMENTAL CHECK OF THEORETICAL RESULTS FOR DIFFERENT HOLLOW RADIUSES AND BOTTOM-MOST PART THICKNESSES

2020 ◽  
Vol 0 (9) ◽  
pp. 16-23
Author(s):  
A. L. Vorontsov ◽  
◽  
I. A. Nikiforov ◽  
Keyword(s):  
Strain Hardening ◽  
Theoretical Calculations ◽  
High Accuracy ◽  
Geometric Parameters ◽  
Strength Characteristics ◽  
Experimental Check ◽  
Hardening Material ◽  
Direct Extrusion ◽  
Theoretical Results

The results of an experimental check of the obtained theoretical formulae allowing us to determine the most important parameters of extrusion cartridges with a counterpunch for different hollow radiuses and bottom-most part thicknesses are presented. Characteristics of used tools, geometric parameters of extrusion experiments, strength characteristics of deformed materials and lubricants are described in detail. Both strain-hardening material and strain-unhardening material were studied. Methodology of the theoretical calculations is demonstrated in detail. High accuracy of the obtained design formulae was confirmed.

scholarly journals A Convergent Collocation Approach for Generalized Fractional Integro-Differential Equations Using Jacobi Poly-Fractonomials

Mathematics ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 979
Author(s):  
Sandeep Kumar ◽  
Rajesh K. Pandey ◽  
H. M. Srivastava ◽  
G. N. Singh
Keyword(s):  
Differential Equation ◽  
Fractional Derivative ◽  
Collocation Method ◽  
Caputo Fractional Derivative ◽  
Fractional Derivatives ◽  
Special Cases ◽  
Collocation Approach ◽  
Linear And Nonlinear ◽  
Simulation Results ◽  
Theoretical Results

In this paper, we present a convergent collocation method with which to find the numerical solution of a generalized fractional integro-differential equation (GFIDE). The presented approach is based on the collocation method using Jacobi poly-fractonomials. The GFIDE is defined in terms of the B-operator introduced recently, and it reduces to Caputo fractional derivative and other fractional derivatives in special cases. The convergence and error analysis of the proposed method are also established. Linear and nonlinear cases of the considered GFIDEs are numerically solved and simulation results are presented to validate the theoretical results.

Forward Kinematic Modeling of Conical-Shaped Continuum Manipulators

Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
A. H. Bouyom Boutchouang ◽  
Achille Melingui ◽  
J. J. B. Mvogo Ahanda ◽  
Othman Lakhal ◽  
Frederic Biya Motto ◽  
...  
Keyword(s):  
Neural Networks ◽  
Data Collection ◽  
Robot Control ◽  
Deep Neural Networks ◽  
Forward Kinematics ◽  
Kinematic Modeling ◽  
Experimental Platform ◽  
Continuum Manipulators ◽  
Forward Kinematic

SUMMARY Forward kinematics is essential in robot control. Its resolution remains a challenge for continuum manipulators because of their inherent flexibility. Learning-based approaches allow obtaining accurate models. However, they suffer from the explosion of the learning database that wears down the manipulator during data collection. This paper proposes an approach that combines the model and learning-based approaches. The learning database is derived from analytical equations to prevent the robot from operating for long periods. The database obtained is handled using Deep Neural Networks (DNNs). The Compact Bionic Handling robot serves as an experimental platform. The comparison with existing approaches gives satisfaction.

Multimodal data fusion framework enhanced robot-assisted minimally invasive surgery

2021 ◽  
pp. 014233122098435
Author(s):  
Wen Qi ◽  
Hang Su ◽  
Ke Fan ◽  
Ziyang Chen ◽  
Jiehao Li ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Data Fusion ◽  
Invasive Surgery ◽  
Robot Control ◽  
Surgical Robot ◽  
Robot Assisted ◽  
Multimodal Data ◽  
Multimodal Data Fusion ◽  
Fusion Framework

The generous application of robot-assisted minimally invasive surgery (RAMIS) promotes human-machine interaction (HMI). Identifying various behaviors of doctors can enhance the RAMIS procedure for the redundant robot. It bridges intelligent robot control and activity recognition strategies in the operating room, including hand gestures and human activities. In this paper, to enhance identification in a dynamic situation, we propose a multimodal data fusion framework to provide multiple information for accuracy enhancement. Firstly, a multi-sensors based hardware structure is designed to capture varied data from various devices, including depth camera and smartphone. Furthermore, in different surgical tasks, the robot control mechanism can shift automatically. The experimental results evaluate the efficiency of developing the multimodal framework for RAMIS by comparing it with a single sensor system. Implementing the KUKA LWR4+ in a surgical robot environment indicates that the surgical robot systems can work with medical staff in the future.

Study on Engine Kinematics and Dynamics Simulation Based on COSMOSMotion

2012 ◽  
Vol 503-504 ◽  
pp. 731-734
Author(s):  
Xiao Xu Liu ◽  
Min Chen ◽  
Ai Hua Tang
Keyword(s):  
Virtual Prototype ◽  
Dynamics Simulation ◽  
Kinematics And Dynamics ◽  
Engine Model ◽  
Kinematics Simulation ◽  
Simulation Based ◽  
Calculation Results ◽  
Simulation Results ◽  
Dynamics Simulations

The engine model with 4 cylinders is built by SolidWorks, the kinematics and dynamics simulations of the engine virtual prototype are done by COSMOSMotion, the results of kinematics simulation are checked, there are very small errors between the simulation results and the calculation results according to formulas. The mainly results of dynamics simulation are given. The simulation result consists with the parameters of the engine.

Mechanism Design and Kinematics Simulation of Massage Mechanical Arm

2011 ◽  
Vol 101-102 ◽  
pp. 279-282 ◽  
Author(s):  
Jun Xie ◽  
Jun Zhang ◽  
Jie Li
Keyword(s):  
Mechanism Design ◽  
Three Dimensional ◽  
Forward Kinematics ◽  
Kinematics Analysis ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Kinematics Model ◽  
Kinematics Simulation ◽  
The Common ◽  
Executive Mechanism

Based on the characteristics and the common massage manipulations of Chinese medical massage, a practical series mechanical arm was presented to act the manipulations with the parallel executive mechanism. Forward kinematics was solved by the Denavit-Hartenberg transformation after the kinematics model of the arm was established. And the three-dimensional model of the arm was created by Pro/E and was imported into ADAMS for the kinematics analysis. The results indicated that the common massage manipulations could be simulated by the arm correctly and flexibly, and it verified the accuracy of the mechanism design of the arm.

scholarly journals IV. On the dynamical theory of incompressible viscous fluids and the determination of the criterion

1895 ◽  
Vol 186 ◽  
pp. 123-164 ◽  
Keyword(s):  
Singular Solution ◽  
Physical State ◽  
Theoretical Calculations ◽  
Equations Of Motion ◽  
Dynamical Theory ◽  
Viscous Fluids ◽  
Linear Functions ◽  
Incompressible Viscous Fluids ◽  
Theoretical Results

1. The equations of motion of viscous fluid (obtained by grafting on certain terms to the abstract equations of the Eulerian form so as to adapt these equations to the case of fluids subject to stresses depending in some hypothetical manner on the rates of distortion, which equations Navier seems to have first introduced in 1822, and which were much studied by Cauchy and Poisson) were finally shown by St. Venant and Sir Gabriel Stokes, in 1845, to involve no other assumption than that the stresses, other than that of pressure uniform in all directions, are linear functions of the rates of distortion, with a co-efficient depending on the physical state of the fluid. By obtaining a singular solution of these equations as applied to the case of pendulums in steady periodic motion, Sir G. Stokes was able to compare the theoretical results with the numerous experiments that had been recorded, with the result that the theoretical calculations agreed so closely with the experimental determinations as seemingly to prove the truth of the assumption involved. This was also the result of comparing the flow of water through uniform tubes with the flow calculated from a singular solution of the equations so long as the tubes were small and the velocities slow. On the other hand, these results, both theoretical and practical, were directly at variance with common experience as to the resistance encountered by larger bodies moving with higher velocities through water, or by water moving with greater velocities through larger tubes. This discrepancy Sir G. Stokes considered as probably resulting from eddies which rendered the actual motion other than that to which the singular solution referred and not as disproving the assumption.

A Study on a Novel Vibrating Conveyor

2009 ◽  
Vol 419-420 ◽  
pp. 45-48 ◽  
Author(s):  
Wen Hsiang Hsieh ◽  
Chia Heng Tsai
Keyword(s):  
Solid Model ◽  
Kinematic Simulation ◽  
Adams Software ◽  
Simulation Results ◽  
Novel Concept

The purpose of this study is to present a novel concept for inline vibrating conveyors, and verify its feasibility by kinematic simulation. First, new conveyor is presented, and its merits are discussed. Then, its kinematically equivalent linkage is described. Moreover, the kinematic dimensions are investigated from its geometry. Finally, the solid model for the proposed design is established, then kinematic simulation is performed by ADAMS software. The simulation results indicate that the proposed new design can effectively advance the workpiece.

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