Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Design and Kinematic Analysis of 3PSS-1S Wrist for Needle Insertion Guidance
Year:2013
Research Areas
  • Engineering
Information
Abstract
In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial?parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton?Raphson formulation and a constraint function of the mechanism. The input?output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of ±45°, ±40°, ±60° along the x, y, z axes respectively.
International
Si
JCR
Si
Title
Robotics and Autonomous Systems
ISBN
0921-8890
Impact factor JCR
1,056
Impact info
Q2
Volume
61
10.1016/j.robot.2013.02.001
Journal number
5
From page
417
To page
427
Month
MAYO
Ranking
Participants
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: German Rey Portoles (Hospital Ruber Internacional)
  • Autor: Hector Moreno Avalos (UPM)
  • Autor: Pedro Fabian Cardenas Herrera (UPM)
  • Autor: Cecilia Elisabet Garcia Cena (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Electrónica, Automática e Informática Industrial
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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