Kinematics of a new 2-DoF wrist with high angulation capability

Author

Marco, Fontana ; Antonio, Frisoli ; Fabio, Salsedo ; Massimo, Bergamasco

Author_Institution

Scuola Superiore Sant´´Anna, Pisa

fYear

2006

fDate

15-19 May 2006

Firstpage

1524

Lastpage

1529

Abstract

This paper presents the synthesis and the analysis of the kinematics of a new robotic parallel wrist for laparoscopic surgery applications. The main properties of this new wrist are the wide singularity free orientation workspace and the capability of making large rotations of the end-effector with small rotation of the actuators. First, it is shown how these features suit the application of minimally invasive surgery. Secondly, the kinematics is described showing its working principle that allows the achievement of rotation multiplication. The forward kinematics problem is solved geometrically. Afterwards, a methodology based on screw theory for the solution of the differential kinematics is proposed. Finally a workspace representation is presented making a comparison with another known parallel wrist

Keywords

end effectors; manipulator kinematics; medical robotics; surgery; 2-DoF wrist; end-effector; high angulation capability; kinematics; laparoscopic surgery applications; minimally invasive surgery; robotic parallel wrist; screw theory; Cables; Control systems; Endoscopes; Fasteners; Kinematics; Minimally invasive surgery; Robots; Surges; Surgical instruments; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1641924

Filename

1641924