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Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications: Micro- Robot Management Using MATLAB - Couverture souple

Al-Tabey, Wael

 
9783848430963: Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications: Micro- Robot Management Using MATLAB
Couverture souple
ISBN 10 : 3848430967 ISBN 13 : 9783848430963
Editeur : LAP LAMBERT Academic Publishing, 2012

Synopsis

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.

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Présentation de l'éditeur

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.

Biographie de l'auteur

Wael A. Al-Tabey, Lecturer, Department of Mechanical Engineering, Alexandria University. Received the B.Sc. degree in mechanical engineering from Alexandria University in 2004 and M.Sc. degree in Robot dynamics and control from Alexandria University in 2009.Member in ASME, SAE, IEEE, IACSIT and KFUPM.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2012
Langue
anglais
ISBN 10 
3848430967
ISBN 13 
9783848430963
Reliure
Broché
Nombre de pages
136
Coordonnées du fabricant
non disponible
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