1. Design and Analysis of a Novel Micromanipulation Robot Mechanism
- Author
-
Sun Jianhua, Gu Hai, Zhang Jie, and Li Bin
- Subjects
Micromanipulation ,Five degree-of-freedom ,Robot mechanism ,Kinematics ,Mechanical engineering and machinery ,TJ1-1570 - Abstract
At present,microsurgery is applied widely in cells and smaller units of gene tissue surgery,but its limitation lies in the lack of excellent micromanipulation equipment. Therefore,a hybrid robot mechanism for micromanipulation with three translation and two rotation of five degrees of freedom (DOF) is presented. Firstly,the mobility and motion feature of this 5-DOF mechanism is analyzed with the constraint screw method.Then the inverse and forward displacement problems of the proposed hybrid mechanism are solved according to the geometrical relationship,and the Jacobian matrix of the mechanism is obtained based on the forward and inverse solution,the decoupled feature of the proposed parallel mechanism is validated. Finally,the kinematics models of the mechanism are established,the virtual prototype model of the mechanism is established and simulated by Matlab,the linear displacements and angular velocities output image of the mechanism are obtained,the correctness of the theoretical analysis is verified and established,the theoretical foundation for its further applications is provided.
- Published
- 2018
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