Design and synthesis of wire-actuated universal-joint wrists for surgical applications. Hamid, S. A. & Simaan, N. In 2009 IEEE International Conference on Robotics and Automation, pages 1807–1813, May, 2009. doi abstract bibtex This paper presents synthesis methods and performance measures for wire-actuated wrists using a universal-joint constraining linkage. Performance measures based on the isotropy of the wrench-closure workspace are derived and used in generating design atlases as a function of non-dimensional design parameters. The performance indices that are optimized include wrench-closure workspace, isotropy of the wrench-closure workspace, and kinematic conditioning index. Stiffness is used to define a safety margin from singularities of wrench closure. A design example of a wire-actuated surgical wrist is presented and validated through simulation. The methods presented in this paper are useful for quick dimensional synthesis of wire-actuated wrists with predefined wrench-closure workspaces.
@inproceedings{hamid_design_2009,
title = {Design and synthesis of wire-actuated universal-joint wrists for surgical applications},
doi = {10.1109/ROBOT.2009.5152781},
abstract = {This paper presents synthesis methods and performance measures for wire-actuated wrists using a universal-joint constraining linkage. Performance measures based on the isotropy of the wrench-closure workspace are derived and used in generating design atlases as a function of non-dimensional design parameters. The performance indices that are optimized include wrench-closure workspace, isotropy of the wrench-closure workspace, and kinematic conditioning index. Stiffness is used to define a safety margin from singularities of wrench closure. A design example of a wire-actuated surgical wrist is presented and validated through simulation. The methods presented in this paper are useful for quick dimensional synthesis of wire-actuated wrists with predefined wrench-closure workspaces.},
booktitle = {2009 {IEEE} {International} {Conference} on {Robotics} and {Automation}},
author = {Hamid, S. A. and Simaan, N.},
month = may,
year = {2009},
keywords = {Couplings, Design optimization, Kinematics, Noninvasive treatment, Robotics and automation, Safety, Surgery, Surges, Torque, Wrist, control system synthesis, kinematic conditioning index, manipulator kinematics, medical robotics, surgery, surgical applications, synthesis methods, universal-joint constraining linkage, wire-actuated universal-joint wrists, wrench-closure workspace},
pages = {1807--1813}
}
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