Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES

Kim, Sung Kyun; Shin, Weon Ho; Ko, Seong-Young; Kim, J.; Kwon, Dong‐Soo

doi:10.1109/aim.2008.4601796

Cited by 10 publications

(2 citation statements)

References 15 publications

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“…These manipulators are often used for applications that do not need an excessive rotational or translational freedom, or where this freedom is achieved by a separate drive. Such applications include surgical operations [37,38], pick-and-place tasks [39], machining [40,41], polishing [42], and welding [43].…”

Section: Introductionmentioning

confidence: 99%

Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

et al. 2023

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The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and replacing the subchain with a parallel mechanism. The article considers 5-DOF open chains and 3-DOF subchains, substituted for 3-DOF parallel mechanisms with the same motion pattern as the subchain. Thus, synthesized hybrid manipulators have a 3-DOF parallel part and a 2-DOF serial part. First, we grouped 26 structures of open chains with revolute and prismatic joints into five types and 78 subtypes. Next, for each type, we selected one subtype and presented several hybrid mechanisms that can correspond to it. We considered hybrid manipulators that included 3-DOF parallel mechanisms with planar, spherical, and other commonly used motion types. The suggested synthesis method is intuitive for a designer, and it does not need any mathematical formulations like screw theory or group theory approaches.

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Section: Introductionmentioning

confidence: 99%

Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

et al. 2023

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“…Designing kinematic mechanisms is an important topic covered in a wide range of areas across the industry. Depending on the application, the mechanism is classified into a passive and actuating system [1][2][3][4][5][6][7][8][9][10][11][12]. For example, the passive system can be classified as automobile suspension, compensation mechanism, and the actuating system can be classified as a robot gripper, manipulator mechanism.…”

Section: Introductionmentioning

confidence: 99%

A Study on the Efficient Construction of Commercial Building and Its Rate of Return :Centered on the Case of Building Construction in Yuseong‐gu, Daejeon Metropolitan City

Lee¹,

Min²

2012

J. Soc. Korea Ind. Syst. Eng.

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We present the detection of long-period RV variations in HD 36384, HD 52030, and HD 208742 by using the high-resolution, fiber-fed Bohyunsan Observatory Echelle Spectrograph (BOES) for the precise radial velocity (RV) survey of about 200 northern circumpolar stars. Analyses of RV data, chromospheric activity indicators, and bisector variations spanning about five years suggest that the RV variations are compatible with planet or brown dwarf companions in Keplerian motion. However, HD 36384 shows photometric variations with a period very close to that of RV variations as well as amplitude variations in the weighted wavelet Z-transform (WWZ) analysis, which argues that the RV variations in HD 36384 are from the stellar pulsations. Assuming that the companion hypothesis is correct, HD 52030 hosts a companion with minimum mass 13.3 M Jup orbiting in 484 days at a distance of 1.2 AU. HD 208742 hosts a companion of 14.0 M Jup at 1.5 AU with a period of 602 days. All stars are located at the asymptotic giant branch (AGB) stage on the H-R diagram after undergone the helium flash and left the giant clump.With stellar radii of 53.0 R ⊙ and 57.2 R ⊙ for HD 52030 and HD 208742, respectively, these stars may be the largest yet, in terms of stellar radius, found to host sub-stellar companions. However, given possible RV amplitude variations and the fact that these are highly evolved stars the planet hypothesis is not yet certain.

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Workspace and Singularity Analysis for a Parallel Robot Used in Surgical Applications

Stoica¹,

Pîslă²,

Szilaghyi³

et al. 2012

New Trends in Mechanism and Machine Science

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Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES

Cited by 10 publications

References 15 publications

Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains

A Study on the Efficient Construction of Commercial Building and Its Rate of Return :Centered on the Case of Building Construction in Yuseong‐gu, Daejeon Metropolitan City

Workspace and Singularity Analysis for a Parallel Robot Used in Surgical Applications

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