Kassner, Sebastian ; Werthschützky, Roland (2010):
Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System.
In: Lecture Notes in Computer Science, 6191, pp. 219-224, Berlin / Heidelberg, Springer, Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010, Amsterdam, 8.-10. Jul 2010, [Conference or Workshop Item]
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.
| Item Type: | Conference or Workshop Item |
|---|---|
| Erschienen: | 2010 |
| Creators: | Kassner, Sebastian ; Werthschützky, Roland |
| Title: | Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System |
| Language: | English |
| 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. |
| Series: | Lecture Notes in Computer Science |
| Series Volume: | 6191 |
| Place of Publication: | Berlin / Heidelberg |
| Publisher: | Springer |
| Uncontrolled Keywords: | minimally invasive surgery, parallel kinematic, topologies, translational parallel machines, workspace, force transmission |
| Divisions: | 18 Department of Electrical Engineering and Information Technology 18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design (dissolved 18.12.2018) 18 Department of Electrical Engineering and Information Technology > Measurement and Sensor Technology |
| Event Title: | Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010 |
| Event Location: | Amsterdam |
| Event Dates: | 8.-10. Jul 2010 |
| Date Deposited: | 16 Aug 2010 14:18 |
| URL / URN: | http://dx.doi.org/10.1007/978-3-642-14064-8 |
| Additional Information: | DOI 10.1007/978-3-642-14064-8 |
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