Designing Systems of Drives of a Medical Robot Actuator

Alexander Kondratievich Kovalchuk

International Journal of Natural Sciences Research, 2014, vol. 2, issue 11, 278-283

Abstract: The paper presents the results of a study that makes it possible to calculate power of drives in the degree of freedom of a medical robot with regard of dynamics of its actuator. Kinematic scheme of the robot is proposed, shown as a direct graph that contains no cycles. Values of the Denavit–Hartenberg parameters and reachability matrix have been obtained. The SolidWorks design system, elements of robot's design were developed, and values of masses, Torques of inertia, center of mass coordinates and other parameters of its main units required for simulation were obtained. Using an application specially developed in the MATLAB software package, a simulation was made, and numerical values of the matrix elements that are included into equation of the robot dynamics, as well as values of drives power in degrees of freedom were obtained.

Keywords: Robototronics; Actuator; Medical robot; Robot drive design; Kinematic tree structure; Kinematic linear structure; Equation of robot dynamics; Mathematical modeling (search for similar items in EconPapers)
Date: 2014
References: Add references at CitEc
Citations:

Downloads: (external link)
https://archive.conscientiabeam.com/index.php/63/article/view/2337/3495 (application/pdf)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:pkp:ijonsr:v:2:y:2014:i:11:p:278-283:id:2337

Access Statistics for this article

More articles in International Journal of Natural Sciences Research from Conscientia Beam
Bibliographic data for series maintained by Dim Michael ().