Abstract
Abstract. This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom) intended to be used as a haptic interface for laparoscopic surgery. The proposed architecture is a result of an association of serial and parallel kinematics chains, with each one handling a part of the whole device DoF. The serial chain allows one to handle the translation and self-rotation and the parallel chain handles the two tilt motions, and this in a disjoint way as the natural gesture of the surgeon. The proposed hybrid-haptic device (HH device) benefits from the split DoF to ensure a good kinematic performance, large workspace, as well as gravity compensation. The kinematics study of the HH device is presented and followed by the optimal dimensional synthesis and the gravity compensation model.
Highlights
Applications requiring interactions between humans and robots have grown in recent years
Limitations have been reported in Saafi et al (2020) regarding the limited motion of the self-rotation. Another kinematic base of the delta structure was studied in Preault et al (2018). This kinematic solves the limitation of the self-rotation; the center of rotation (CoR) is at the bottom of the parallel mechanism
Since the 3-RRR planar parallel manipulator (PPM) will not be equipped with sensors, the inverse kinematic model (IKM) will be used to determine the required angles
Summary
Applications requiring interactions between humans and robots have grown in recent years. Sigma. from Force Dimension® is used in Tobergte et al (2011) to control the MiroSurge robotic system designed by the German Aerospace Center (DLR) This device is hybrid since it is composed of a parallel part, based on the delta robot, and a spherical serial part. This kinematic solves the limitation of the self-rotation; the center of rotation (CoR) is at the bottom of the parallel mechanism This increases the gravity compensation torques and the size of the required actuators. A new hybrid design of a haptic device is presented This design connects a serial part and a parallel part around a fixed CoR. The new design of a 4-DoF hybrid-haptic device (HH device) is presented in Sect.
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