Clamping dexterity on manipulator and simulation of laparoscopic robot

As an important indicator of the robot performance, the clamping dexterity is researched to develop the advantage of the robot. Using the theory of the unit ball, analysing the object(linear object) clamped by the manipulator of the laparoscopic robot, the posture of the clamping object and the relation between them when the manipulator clamp the object are described in expression. Then, the kinematics of laparoscopic robot manipulator is researched, and the parse expression of the manipulator posture which satisfies requirement that the manipulator clamp the object of the random posture at a clamping point can be deduced. It means that, using the expression, the best posture of clamping can be gotten. So, with the definition of the clamping dexterity, the procedure algorithm is given by the unit ball. Applying this algorithm on the minimally invasive Laparoscopic robot manipulator, it can be confirmed by simulation test with SimMechanics.