Extension of D-H parameter method to hybrid manipulators used in robot-assisted surgery.
The main focus of this work is to extend the applicability of D-H parameter method to develop a kinematic model of a hybrid manipulator. A hybrid manipulator is a combination of open- and closed-loop chains and contains planar and spatial links. It has been found in the literature that D-H parameter method leads to ambiguities, when dealing with closed-loop chains. In this work, it has been observed that the D-H parameter method, when applied to a hybrid manipulator, results in an orientational inconsistency, because of which the method cannot be used to develop the kinematic model. In this article, the concept of dummy frames is proposed to resolve the orientational inconsistency and to develop the kinematic model of a hybrid manipulator. Moreover, the prototype of 7-degree-of-freedom hybrid manipulator, known as a surgeon-side manipulator to assist the surgeon during a medical surgery, is also developed to validate the kinematic model derived in this work.
Department of Mechanical Engineering, MEFGI, Rajkot, India.
Amanpreet
A
Singh
Department of Mechanical Engineering, Thapar University, Patiala, India ashish.singla@thapar.edu.
Ashish
A
Singla
Biomedical Instrumentation Division, Council of Scientific & Industrial Research-Central Scientific Instruments Organization (CSIR-CSIO), Chandigarh, India.
Sanjeev
S
Soni
D001696:Biomechanical Phenomena; D017076:Computer-Aided Design; D004867:Equipment Design; D065287:Robotic Surgical Procedures / Q000295:instrumentation*
D-H parameter method; Hybrid manipulator; dummy frames; robot-assisted surgery; spatial links