Singh, Amanpreet and Singla, Ashish and Soni, Sanjeev (2015) Extension of D-H parameter method to hybrid manipulators used in robot-assisted surgery. Journal of Engineering in Medicine, 229 (10). pp. 703-712. ISSN 0954-4119
Full text not available from this repository.Abstract
The main focus of this work is to extend the applicability of D-H parameter method to develop a kinematic model of a hybrid manipulator. A hybrid manipulator is a combination of open- and closed-loop chains and contains planar and spatial links. It has been found in the literature that D-H parameter method leads to ambiguities, when dealing with closed-loop chains. In this work, it has been observed that the D-H parameter method, when applied to a hybrid manipulator, results in an orientational inconsistency, because of which the method cannot be used to develop the kinematic model. In this article, the concept of dummy frames is proposed to resolve the orientational inconsistency and to develop the kinematic model of a hybrid manipulator. Moreover, the prototype of 7-degree-of-freedom hybrid manipulator, known as a surgeon-side manipulator to assist the surgeon during a medical surgery, is also developed to validate the kinematic model derived in this work.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | D-H parameter method; Hybrid manipulator; dummy frames; robot-assisted surgery; spatial links |
| Subjects: | CSIO > Medical Instrumentation |
| Divisions: | Medical Instrumentation |
| Depositing User: | Ms. Jyotsana |
| Date Deposited: | 09 Aug 2018 11:56 |
| Last Modified: | 09 Aug 2018 11:56 |
| URI: | http://csioir.csio.res.in/id/eprint/647 |
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