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
  • Electric engineers, electronic and automatic (eil)
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 degrees, +/- 40 degrees, +/- 60 degrees along the x, y, z axes respectively. (C) 2013 Elsevier B.V. All rights reserved.
International
Si
JCR
Si
Title
ROBOTICS AND AUTONOMOUS SYSTEMS
ISBN
0921-8890
Impact factor JCR
1,156
Impact info
Volume
61
10.1016/j.robot.2013.02.001
Journal number
5
From page
417
To page
427
Month
MAYO
Ranking
Q2
Participants
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Hector Moreno Avalos (UPM)
  • Autor: Germán Portoles (H. Ruber Internacional)
  • Autor: Cecilia Elisabet Garcia Cena (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Electrónica, Automática e Informática Industrial
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
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