Kinematics
Kinematics
Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications by Wael Al-Tabey
---------------------------------------------------------------
Author: Wael Al-Tabey
Page Count: 136 pages
Published Date: 08 Mar 2012
Publisher: LAP Lambert Academic Publishing
Publication Country: Germany
Language: English
ISBN: 9783848430963
File Name: Kinematics.&Dynamics.Analysis.of.Micro-Robot.for.Surgical.Applications.pdf
Download Link: Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications
---------------------------------------------------------------
The applications of robotics in medical field have increased extensively in the last two decades. This work aims at investigating the kinematics and dynamics of six degrees of freedom micro-robot intended for surgery applications. The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The workspace of the robot was investigated based on the kinematic equations as well as the physical limit of each joint. The dynamic equations of motion, which are important for the proper design of robot controller, were first derived using the Lagrangian-Euler technique. Then the required hub torque to move each joint was calculated for the motor selection. The trajectory planning was derived using four different methods of trajectory planning. These methods are the third-order polynomial, fifth-order polynomial, linear segments with parabolic blends and soft motion trajectory planning. A comparison of the results was carried out to choose the best method that gives the smooth set trajectory planning and best performance of the robot under investigation.The simulation results were obtained using MATLAB.
Read online Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications Buy and read online Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications Download and read Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications for pc, mac, kindle, readers Download to iPad/iPhone/iOS, B&N nook Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications
Download PDF, EPUB, MOBI Works of Benjamin Wills Newton, Volume 4
Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications by Wael Al-Tabey
Author: Wael Al-Tabey
Page Count: 136 pages
Published Date: 08 Mar 2012
Publisher: LAP Lambert Academic Publishing
Publication Country: Germany
Language: English
ISBN: 9783848430963
File Name: Kinematics.&Dynamics.Analysis.of.Micro-Robot.for.Surgical.Applications.pdf
Download Link: Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications
---------------------------------------------------------------
The applications of robotics in medical field have increased extensively in the last two decades. This work aims at investigating the kinematics and dynamics of six degrees of freedom micro-robot intended for surgery applications. The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The workspace of the robot was investigated based on the kinematic equations as well as the physical limit of each joint. The dynamic equations of motion, which are important for the proper design of robot controller, were first derived using the Lagrangian-Euler technique. Then the required hub torque to move each joint was calculated for the motor selection. The trajectory planning was derived using four different methods of trajectory planning. These methods are the third-order polynomial, fifth-order polynomial, linear segments with parabolic blends and soft motion trajectory planning. A comparison of the results was carried out to choose the best method that gives the smooth set trajectory planning and best performance of the robot under investigation.The simulation results were obtained using MATLAB.
Read online Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications Buy and read online Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications Download and read Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications for pc, mac, kindle, readers Download to iPad/iPhone/iOS, B&N nook Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications
More files:
Saponi e Cosmetici Fai Da Te. Manuale Completo di Formule, Ricette e Segreti per una Bellezza Facile e Naturale. download PDF, EPUB, KindleDownload PDF, EPUB, MOBI Works of Benjamin Wills Newton, Volume 4