Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses |
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| Authors: | Bogdan Gherman Doina Pisla Calin Vaida Nicolae Plitea |
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| Affiliation: | 1. Laboratory of Precision Engineering, University of Twente, PO Box 217, AE Enschede 7500, The Netherlands;2. Johannes Kepler University, Linz, Austria;3. Department of Precision and Microsystems Engineering, Delft University of Technology, Mekelweg 2, 2628 CD DELFT, The Netherlands;2. Department of Mechanical Engineering, University of Bojnord, Bojnord, Iran;3. Mechanical Engineering Department, Mashhad Branch, Islamic Azad University, Mashhad, Iran |
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| Abstract: | Robotic-assisted surgery is a continuously developing field, as robots have demonstrated clear benefits in the operating room. This paper presents the inverse dynamic model (in the case of using the laparoscope as a surgical instrument) and some characteristics of a 5-DOF hybrid parallel robot designed for minimally invasive surgery. The new inverse dynamic model is obtained using the virtual work method on the basis of dynamically equivalent lumped masses. The simulation and numerical results have been obtained for the experimental model of the developed PARASURG-5M robot, showing that the analytical inverse dynamic model could be used in the control of the robot. Finally, a comparison between the simulation data obtained in Matlab (IDM) with the simulation data through a Multi-body Simulation software (MBS), namely Adams (MBS) has been performed. |
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