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Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System

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 (8.-10. Jul 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: 8.-10. Jul 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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