Design of a Master Manipulator with Dynamical Simplification for Master-Slave Robot

Li Nan Zhang; Shu Xin Wang; Jian Min Li; Jin Hua Li

doi:10.4028/www.scientific.net/AMM.418.3

Paper Titles

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Design of a Master Manipulator with Dynamical Simplification for Master-Slave Robot
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 418Design of a Master Manipulator with Dynamical...

Design of a Master Manipulator with Dynamical Simplification for Master-Slave Robot

Abstract:

Dynamic behavior is an important factor to affect the performance of surgical robot, especially force-feedback master manipulator. In this paper, a force-feedback master manipulator with parallelogram is developed, which can realize self-gravity balance; Compare the dynamics of the force-feedback master manipulator with parallelogram mechanism and another one without parallelogram mechanism. The result shows that the dynamical equation of the master manipulator with parallelogram mechanism is simpler than the one without parallelogram mechanism. This parallelogram mechanism can be generally used in all the mechanical design that is needed to simplify the dynamics.

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Periodical:

Applied Mechanics and Materials (Volume 418)

Pages:

3-9

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.418.3

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Online since:

September 2013

Authors:

Li Nan Zhang, Shu Xin Wang, Jian Min Li, Jin Hua Li

Keywords:

Dynamical Simplification, Force-Feedback, Master, Parallelogram

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