Development and Analysis of a Parallel Structure Mechanism with Slotted Arcuate Guides and a Constant Entry Point-Reference-Cited by-同舟云学术

Development and Analysis of a Parallel Structure Mechanism with Slotted Arcuate Guides and a Constant Entry Point

Published:2022-01 Issue:1 (742) Volume: Page:31-38
ISSN:0536-1044
Container-title:Proceedings of Higher Educational Institutions. Маchine Building
language:
Short-container-title:PoHEI.MB

Author:

Dukhov A.V.¹,Romanov A.A.²,Erofeev M.N.²,Kravchenko I.N.²,Nikolaev A.V.²

Affiliation:

1. JSC Progress MRI

2. Blagonravov Mechanical Engineering Research Institute of the Russian Academy of Sciences

Abstract

The development and study of new mechanisms of a parallel structure ensuring the constancy of the point of instrument entry into the working area is an urgent task of surgery and scientific medicine. A structural synthesis of a parallel structure mechanism designed for robotic laparoscopic surgery has been performed. The proposed mechanism is equipped with arcuate guides with slots installed on the base perpendicular to each other. At the intersection of the slots, there is a bushing through which a straight shaft connected to the output link moves linearly. This arrangement provides a constant entry point, which allows the developed mechanism to be used in laparoscopic surgery and studies of plasma properties. For this mechanism, the inverse problem of positions has been solved, the working area has been determined, and a 3D model has been developed.

Publisher

Bauman Moscow State Technical University

Subject

General Engineering

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