Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance

Puglisi, Lisandro Jose and Saltaren Pazmiño, Roque Jacinto and Rey Portolés, Germán and Moreno Avalos, Hector and Cardenas Herrera, Pedro Fabian and García Cena, Cecilia Elisabet (2013). Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance. "Robotics and Autonomous System", v. 61 (n. 5); pp. 417-427. ISSN 0921-8890. https://doi.org/10.1016/j.robot.2013.02.001.

Description

Title: Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance
Author/s:
  • Puglisi, Lisandro Jose
  • Saltaren Pazmiño, Roque Jacinto
  • Rey Portolés, Germán
  • Moreno Avalos, Hector
  • Cardenas Herrera, Pedro Fabian
  • García Cena, Cecilia Elisabet
Item Type: Article
Título de Revista/Publicación: Robotics and Autonomous System
Date: May 2013
ISSN: 0921-8890
Volume: 61
Subjects:
Freetext Keywords: Spherical wrist; Parallel manipulator; Needle insertion
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial–parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton–Raphson formulation and a constraint function of the mechanism. The input–output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of ±45°±45°, ±40°±40°, ±60°±60° along the View the MathML sourcex, View the MathML sourcey, View the MathML sourcez axes respectively.

More information

Item ID: 29021
DC Identifier: http://oa.upm.es/29021/
OAI Identifier: oai:oa.upm.es:29021
DOI: 10.1016/j.robot.2013.02.001
Official URL: http://www.sciencedirect.com/science/article/pii/S0921889013000225
Deposited by: Memoria Investigacion
Deposited on: 10 Dec 2014 17:04
Last Modified: 11 Oct 2018 08:36
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