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Implementation of a 4-DOF parallel mechanism as a needle insertion device
- Issue Date
- May-2010
- Publisher
- IEEE
- Keywords
- Parallel mechanisms; Mechanisms; Kinematic modeling; Robotics; Kinematic Analysis; Singularity analysis; Kinematics; Experimental works; Needles; Singularity-free; Low-mobility; Needle insertion
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, pp 662 - 668
- Pages
- 7
- Indexed
- SCIE
- Journal Title
- Proceedings - IEEE International Conference on Robotics and Automation
- Start Page
- 662
- End Page
- 668
- ISSN
- 1050-4729
- Abstract
- 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. ©2010 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)