Wael Al-Tabey

Kinematics &Dynamics Analysis of Micro-Robot for Surgical Applications

Micro- Robot Management Using MATLAB

• Broschiertes Buch

Produktbeschreibung

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.

Produktdetails

• Verlag: LAP Lambert Academic Publishing
• Aufl.
• Seitenzahl: 136
• Englisch
• Abmessung: 220mm x 150mm x 8mm
• Gewicht: 221g
• ISBN-13: 9783848430963
• ISBN-10: 3848430967
• Artikelnr.: 35227584

Autorenporträt

Wael A. Al-Tabey, Lecturer, Department of Mechanical Engineering, Alexandria University. Received the B.Sc. degree in mechanical engineering from Alexandria University in 2004 and M.Sc. degree in Robot dynamics and control from Alexandria University in 2009.Member in ASME, SAE, IEEE, IACSIT and KFUPM.