The present paper deals with the mathematical modeling of a new 2 DOF remote center of motion spherical parallel tensegrity mechanism, dedicated to percutaneous needle interventions. Analytical inverse kinematic and numerical direct kinematic models are developed. Trilateration approach is considered in order to determine the coordinates of the joints that constitute the system. A 3D prototype of the mechanism has been developed for future evaluations. This work constitutes a first step towards the control of the mechanism.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    Altuzarra, Oscar (Herausgeber:in) / Kecskeméthy, Andrés (Herausgeber:in) / El Jjouaoui, H. (Autor:in) / Cruz-Martinez, G. (Autor:in) / Avila Vilchis, J.-C. (Autor:in) / Vilchis González, A. (Autor:in) / Abdelaziz, S. (Autor:in) / Poignet, P. (Autor:in)

    Kongress:

    International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022



    Erscheinungsdatum :

    18.06.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Modeling of a Remote Center of Motion Spherical Parallel Tensegrity Mechanism for Percutaneous Interventions

    El Jjouaoui, H. / Cruz-Martinez, G. / Avila Vilchis, J.-C. et al. | TIBKAT | 2022


    Stacked Tensegrity Mechanism for Medical Application

    Khanzode, Dhruva / Jha, Ranjan / Duchalais, Emilie et al. | TIBKAT | 2022


    Motion Analysis of Bending Bar Tensegrity Robot

    Feng, Yaming / Liu, Heping / Luo, Ani et al. | ASCE | 2024


    Stacked Tensegrity Mechanism for Medical Application

    Khanzode, Dhruva / Jha, Ranjan / Duchalais, Emilie et al. | Springer Verlag | 2022


    Dynamic Modeling of Morphing Tensegrity Structures

    Pietila, G. / Cohen, K. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2011