Flexure-based Manipulator for Active Handheld Microsurgical Instrument
Flexure-based Manipulator for Active Handheld Microsurgical Instrument
复制标题
用于主动手持显微手术器械的基于弯曲的机械手
DOI：
10.1109/iembs.2005.1616932
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
C. Riviere
中科院分区：
文献类型：
--
作者：
D. Choi;C. Riviere
本文介绍了一种由三个压电堆驱动的柔性并联机器人的设计和初步实验结果。该机械手是一种用于显微外科的主动手持式震颤消除装置。通过使用挠曲来近似销钉和球接头，消除了由于摩擦、间隙和不完美的装配而产生的误差。结果表明，该机械臂能够在振幅和频率上跟踪与生理震颤相似的运动。机械手的工作空间比x、y轴上的震颤空间大7倍以上，在z轴上的震颤空间大1.5倍左右。一维和三维跟踪试验的均方根误差分别为6.5 μm和12.1 μm。
This paper presents the design and initial experimental results of a flexure-based parallel manipulator that is actuated by three piezoelectric stacks. The manipulator is for an active handheld tremor canceling device for microsurgery. By using flexures to approximate pin and ball joints, errors due to friction, backlash, and imperfect assemblies have been eliminated. The results show that the manipulator is capable of tracking motions similar to physiological tremor in amplitude and frequency. The workspace of the manipulator is more than 7 times larger than the tremor space in the x and y axes, and about 1.5 times larger in the z axis. One dimensional and three dimensional tracking tests had rms errors of 6.5 μm and 12.1 μm respectively.