Implementation of a 4-DOF parallel mechanism as a needle insertion device
- Title
- Implementation of a 4-DOF parallel mechanism as a needle insertion device
- Author
- 이병주
- Keywords
- Parallel mechanisms; Mechanisms; Kinematic modeling; Robotics; Kinematic Analysis; Singularity analysis; Kinematics; Experimental works; Needles; Singularity-free; Low-mobility; Needle insertion
- Issue Date
- 2010-05
- Publisher
- IEEE
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, article no. 5509362, Page. 662-668
- Abstract
- Recently, quite a few practical parallel mechanisms having spatial 3-DOF and 6-DOF have been introduced and implemented. However, not many useful practical applications using low-mobility parallel mechanisms having 4-DOF and 5-DOF have been developed. In this paper, we propose a 4-DOF parallel mechanism for needle insertion application in which proper orientation and needle insertion process are required. The mechanism has four outer chains and one passive middle chain through which a needle insertion motion occurs. The kinematic modeling and kinematic analysis are performed to understand the characteristics of this mechanism. Through the singularity analysis, a singularity-free design for the desired workspace is proposed. Finally, the effectiveness of this device as a needle insertion device is shown through experimental work. ©2010 IEEE.
- URI
- https://ieeexplore.ieee.org/document/5509362https://repository.hanyang.ac.kr/handle/20.500.11754/181086
- ISSN
- 1050-4729
- DOI
- 10.1109/ROBOT.2010.5509362
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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