Implementation of a 4-DOF parallel mechanism as a needle insertion device
Implementation of a 4-DOF parallel mechanism as a needle insertion device
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DOI：
10.1109/robot.2010.5509362
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发表时间：
2010-05
期刊：
影响因子：
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通讯作者：
J. Chung;Hyo-Jeong Cha;B. Yi;W. Kim
中科院分区：
文献类型：
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作者：
J. Chung;Hyo-Jeong Cha;B. Yi;W. Kim
近年来，已有不少具有空间三自由度和六自由度的实用并联机构被引入和实现。然而，利用具有四自由度和五自由度的低移动度并联机构的实际应用并不多。在本文中，我们提出了一种四自由度并联插针机构，该机构需要适当的方向和插针过程。该机构有四个外链和一个被动中间链，通过中间链进行针插入运动。通过运动学建模和运动学分析来了解该机构的特点。通过奇异性分析，提出了理想工作空间的无奇异设计。最后，通过实验证明了该装置作为插针装置的有效性。
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.