Kinematics and Performance Analysis of a Parallel Manipulator with Remote Center of Motion

doi:10.3901/JME.2019.05.065

Abstract

Abstract: Parallel manipulators actuated by fixed linear actuators have the merits of high stiffness and high accuracy, which are very welcome in surgery field. Surgical operations such as minimally invasive biopsies require the robots have the ability to perform rotations around a fixed remote center. A 2PURR-PUR parallel manipulator with remote center of motion is proposed with its mobility and motion characteristic verified using screw theory. The manipulator can perform two rotational motion around a remote center and a translational motion through that center. Position model of the manipulator is established and inverse position solutions are obtained. Jacobian matrix is derived based on the velocity analysis, which is further used in singularity analysis. It is demonstrated that the parallel manipulator has inverse singularities and forward singularities. Workspace of the manipulator is determined. Using the method of motion/force transmission, the local transmission index of the manipulator over its workspace is sketched. Dimensional optimization is carried out. The proposed parallel manipulator with remote center of motion can be applied in minimally surgical operations with single incision such as invasive biopsies, brachytherapy, and cryotherapy.

Key words: parallel manipulator, performance index, screw theory, surgery, workspace

CLC Number:

TH112

YE Wei, YANG Zhen, LI Qinchuan. Kinematics and Performance Analysis of a Parallel Manipulator with Remote Center of Motion[J]. Journal of Mechanical Engineering, 2019, 55(5): 65-73.

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