5-Dof Parallel Structure Mechanism for Vertebral Surgeries and Additive Manufacturing

Филиппов, Г. С.; Глазунов, В. А.; Lastochkin, A. B.

doi:10.14489/hb.2018.10.pp.055-060

Cited by 2 publications

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“…А.А. Благонравова синтезирован механизм для решения данных задач, проведен его структурный анализ [7,8].…”

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Kinematic Analysis of a Parallel-Sequential Structure Mechanism with Five Degrees of Freedom

Филиппов

2019

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The article presents a synthesis of a mechanism of parallel-sequential structure with five degrees of freedom capable of processing objects with an extended dimention in one direction, wherein the considered mechanism can have a high bearing capacity. Corresponding problems are associated with manufacturing jet turbine airfoil as well as vertebrae operations (on the human spine). Movement along a coordinate that is linked to large dimensions of a processed object is provided using the initial translation pairs equipped with a motor. It is followed by a flat partial parallel structure mechanism with three degrees of freedom, and further – by a revolute kinematic pair. A kinematic analysis of the considered mechanism is performed, and the inverse kinematic problem is solved. The Angeles-Gosselin method for parallel structure mechanisms is used when performing velocity calculations of the parallel-sequential structure mechanism. The results of the numerical experiment are presented.

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“…А.А. Благонравова синтезирован механизм для решения данных задач, проведен его структурный анализ [7,8].…”

unclassified

Kinematic Analysis of a Parallel-Sequential Structure Mechanism with Five Degrees of Freedom

Филиппов

2019

PoHEI.MB

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Parallel Manipulator Mechanism for Use in Robotic Surgery

et al. 2021

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The article examines the mechanisms of parallel and parallel-sequential structure, including specific translational-guides, flat, spherical mechanisms of a parallel structure with three degrees of freedom, modifications of Delta robots from various manufacturers. The most famous studies of robots of parallel-serial structure are presented. Mazor Renaissance and Mazor X robotic systems for robotic assistance during spinal surgery are examined. The method of synthesis of mechanisms of parallel-serial structure with five degrees of freedom is briefly presented. Examples of synthesised schemes of mechanisms and three-dimensional schemes, synthesised using in the computer-aided design system Compass 3D, are given. A diagram of a mechanism of a parallel-sequential structure with five degrees of freedom for robotic assistance during minimally invasive operations, which can be used as an alternative to the da Vinci Surgical System Platform, is examined. An example of modelling the solution of the inverse problem of positions, direct and inverse problems of velocities and direct and inverse dynamic problems in the Mathcad system, the result of modelling the motion of the output link in various initial conditions is given. The results of experimental studies using a prototype mechanism are shown.

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5-Dof Parallel Structure Mechanism for Vertebral Surgeries and Additive Manufacturing

Cited by 2 publications

References 0 publications

Kinematic Analysis of a Parallel-Sequential Structure Mechanism with Five Degrees of Freedom

Kinematic Analysis of a Parallel-Sequential Structure Mechanism with Five Degrees of Freedom

Parallel Manipulator Mechanism for Use in Robotic Surgery

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