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Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications - VGC PBK
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eBay item number:133724513686
Item specifics
- Condition
- Brand
- LAP Lambert Academic Publishing
- MPN
- 168/BLR/225P 0963
- UPC
- 9783848430963
- ISBN
- 9783848430963
- EAN
- 9783848430963
- Publication Year
- 2012
- Type
- Textbook
- Format
- Paperback
- Language
- English
- Publication Name
- Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications
- Item Height
- 229mm
- Publisher
- LAP
- Item Width
- 152mm
- Subject
- Engineering & Technology
- Item Weight
- 209g
- Number of Pages
- 136 Pages
About this product
Product Information
The applications of robotics in medical field have increased extensively in the last two decades. This work aims at investigating the kinematics and dynamics of six degrees of freedom micro-robot intended for surgery applications. The kinematic equations of motion were obtained using Denavit-Hartemberg representation. The workspace of the robot was investigated based on the kinematic equations as well as the physical limit of each joint. The dynamic equations of motion, which are important for the proper design of robot controller, were first derived using the Lagrangian-Euler technique. Then the required hub torque to move each joint was calculated for the motor selection. The trajectory planning was derived using four different methods of trajectory planning. These methods are the third-order polynomial, fifth-order polynomial, linear segments with parabolic blends and soft motion trajectory planning. A comparison of the results was carried out to choose the best method that gives the smooth set trajectory planning and best performance of the robot under investigation.The simulation results were obtained using MATLAB.
Product Identifiers
Publisher
LAP
ISBN-13
9783848430963
eBay Product ID (ePID)
113962181
Product Key Features
Publication Name
Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications
Format
Paperback
Language
English
Subject
Engineering & Technology
Publication Year
2012
Type
Textbook
Number of Pages
136 Pages
Dimensions
Item Height
229mm
Item Width
152mm
Item Weight
209g
Additional Product Features
Country/Region of Manufacture
Germany
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eBay item number:133724513686
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