ICRA'09 Paper Abstract


Paper FrA8.5

Hamid, Saleem Abdul (Columbia University), Simaan, Nabil (Columbia University)

Design and Synthesis of Wire-Actuated Universal-Joint Wrists for Surgical Applications

Scheduled for presentation during the Regular Sessions "Parallel Robots - I" (FrA8), Friday, May 15, 2009, 09:50−10:10, Room: 406

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Kinematics, Medical Robots and Systems, Parallel Robots


This paper presents synthesis methods and performance measures for wire-actuated wrists using a universal-joint constraining linkage. Performance measures based on the isotropy of the wrench-closure workspace are derived and used in generating design atlases as a function of non-dimensional design parameters. The performance indices that are optimized include the wrench-closure workspace, isotropy of the wrench closure workspace, and kinematic conditioning index. Stiffness is used to define a safety margin from singularities of wrench closure. A design example of a wire-actuated surgical wrist is presented and validated through simulation. The methods presented in this paper are useful for quick dimensional synthesis of wire-actuated wrists with predefined wrench-closure workspaces.



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