Synthesis of spherical parallel manipulator for dexterous medical task
Tóm tắt
Từ khóa
Tài liệu tham khảo
Li T, Payandeh S. Design of spherical parallel mechanisms for application to laparoscopic surgery. Robotica, 2002, 20(2):133–138
Bulca F, Angeles J, Zsombor-Murray P J. On the workspace determination of spherical serial and platform mechanisms. Mechanism and Machine Theory, 1999, 34(3):497–512
Bai S. Optimum design of spherical parallel manipulator. Mechanism and Machine Theory, 2010, 45(2):200–211
Gosselin C, St-Pierre E, Gangné M. On the development of the agile eye. Mechnaical Design, Control Issues and Experimentation. IEEE Robotics & Automation Magazine, 1996, 3(4):29–37
Gosselin C, Lavoie E. On the kinematic design of spherical three-degree-of-freedom parallel manipulators. International Journal of Robotics reaserch. 1993, 12(4):394–402
Bonev I A, Chablat D, Wenger P. Working and assebly modes of the agile eye. In: Proceedings of the IEEE International Conference on Robotics and Automation, 2006, Orlando-Florida, 2317–2322
Zanganeh K E, Angeles J. Kinematic isotropy and the optimum design of parallel manipulators. Internatinal Journal of Robotics Reaserch, 1997, 2(4):16
Bonev I A, Gosselin C M. Singularity loci of spherical parallel mechanisms. In: Proceedings of the IEEE International Conference on Robotics and Automation, 2005, 2957–2962
Gosselin C, Wang J. Singularity loci of a special class pf spherical three-degree-of-freedom parallel machanisms with revolute actuator. International Journal of Robotic Reaserches, 2002, 21(7):649–659
Wu G, Cavanagh P R. ISB recommendations for standardization in the reporting of kinematic data. Journal of Biomechanics, 1995, 28(10):1257–1261
Karouia M, Hervé J M. Asymmetrical 3-dof spherical parallel mechanisms. European Journal of Mechanics-A/Solids, 2005, 24(1):47–57
di Gregorio R. A new parallel wrist using only revolute pairs: The 3-RUU wrist. Robotica, 2001, 19(03):305–309
Al-Widyan K, Ma X Q, Angeles J. The robust design of parallel spherical robots. Mechanism and Machine Theory, 2011, 46(3):335–343
Karouia M, Hervé J M. Enumération de mécanismes parallèles sphériaques isostatiques. In: 16ème Congrès Français de Mécanique, 2003, Nice
Gleicher M. Retargetting motion to new characters. In: Proceedings of the 25th annual Conference on Computer Graphics and Interactive Techniques, 1998, 33–42
Merlet J P. Jacobian, manipualbility, condition number and acuuracy of parallel robots. Journal of Mechanical Design. 2006, 128(1):199–206
Laribi M A, Romdhane L, Zeghloul S. Analysis and dimensional synthesis of the DELTA robot for a prescribed workspace. Mechanism and Machine Theory, 2007, 42(7):859–870
Laribi M A, Mlika A, Romdhane L, Zeghloul S. Criteria optimum design of 3 DOF translational parallel manipulators. In: Proceedings of the 13rd IFToMM World Congress, 2011, Guanajuato