Kassner, Sebastian ; Werthschützky, Roland (2010)
Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System.
Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010. Amsterdam (08.07.2010-10.07.2010)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
In this paper parallel kinematic structures are analyzed to realize a haptic joystick with three translational degrees of freedom. The Chebychev-Grübler-Kutzbach criterion is applied to determine kinematic topologies. Resulting topologies are listed comprising prismatic, rotational, universal and cylindrical joints. Furthermore restrictions are compiled to enforce pure translational behaviour. An RUU mechanism is chosen as an applicable structure and adapted to be applied in a handheld control interface for a laparoscopic telesurgical system. An algorithm has been implemented to determine workspace size and shape. Three exemplary workspace shapes are shown and the occurring actor torques are calculated using the Jacobian matrix.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2010 |
| Autor(en): | Kassner, Sebastian ; Werthschützky, Roland |
| Art des Eintrags: | Bibliographie |
| Titel: | Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System |
| Sprache: | Englisch |
| Publikationsjahr: | 8 Juli 2010 |
| Ort: | Berlin / Heidelberg |
| Verlag: | Springer |
| Reihe: | Lecture Notes in Computer Science |
| Band einer Reihe: | 6191 |
| Veranstaltungstitel: | Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010 |
| Veranstaltungsort: | Amsterdam |
| Veranstaltungsdatum: | 08.07.2010-10.07.2010 |
| URL / URN: | http://dx.doi.org/10.1007/978-3-642-14064-8 |
| Kurzbeschreibung (Abstract): | In this paper parallel kinematic structures are analyzed to realize a haptic joystick with three translational degrees of freedom. The Chebychev-Grübler-Kutzbach criterion is applied to determine kinematic topologies. Resulting topologies are listed comprising prismatic, rotational, universal and cylindrical joints. Furthermore restrictions are compiled to enforce pure translational behaviour. An RUU mechanism is chosen as an applicable structure and adapted to be applied in a handheld control interface for a laparoscopic telesurgical system. An algorithm has been implemented to determine workspace size and shape. Three exemplary workspace shapes are shown and the occurring actor torques are calculated using the Jacobian matrix. |
| Freie Schlagworte: | minimally invasive surgery, parallel kinematic, topologies, translational parallel machines, workspace, force transmission |
| Zusätzliche Informationen: | DOI 10.1007/978-3-642-14064-8 |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen (aufgelöst 18.12.2018) 18 Fachbereich Elektrotechnik und Informationstechnik > Mess- und Sensortechnik |
| Hinterlegungsdatum: | 16 Aug 2010 14:18 |
| Letzte Änderung: | 05 Mär 2013 09:36 |
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