Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance

作者：Pugisi Lisandro J^*; Saltaren Roque J; Portoles German Rey; Moreno Hector; Cardenas Pedro F; Garcia Cecilia

来源：Robotics and Autonomous Systems, 2013, 61(5): 417-427.

DOI：10.1016/j.robot.2013.02.001

• Spherical wrist
• Parallel manipulator
• Needle insertion

In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial-parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton-Raphson formulation and a constraint function of the mechanism. The input-output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of +/- 45 degrees, +/- 40 degrees, +/- 60 degrees along the x, y, z axes respectively.

• 出版日期2013-5