company krut
TRANSCRIPT
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In contact with human body
Specific
safeties Specific functionalities
Easily movable
Optimal size
Manually controllable
Specific
kinematics
Unstructured environment, No repetitive tasks,
Sterilization of the components
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f KHz
fKHz
Actuated Joints
Passive Joints
Links
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1900 200065 86
Machine-tool
Pioneers
(Gough, Stewart)
Delta(Clavel, EPFL) Variax
(Gidding & Lewis)
N.C.
55
Robots
PKM
ROBODOC CASPAR
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NeuromateACROBOT
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)cos()sin()det( 5343 DDJ
22
5 ,2atan zzz sna
55
6 ,2atanC
s
C
n zz
5641 CDRpr z
1000
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zzzz
yyyy
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pans
pans
pans
U
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Tool MotorsV VJ
Motors Tool V VJ
ToolP MotorsP
J
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Zeus
Da Vinci
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ROBODOCCASPAR
Zeus
Da Vinci
Actuated Joints
Passive Joints
Links
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Revolute Prismatic Universal Spherical
Passive R P U S
Passive + measurement R P U S
Actuated R P U S
Actuated + measurement R P U S
table 1. Symbols for Joint-and-Loop graphs.
(not easy to implement)
R RP
R RP
R RP
P RR
P RR
P RR
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R RR
R RR
R RR
P RR
P RR
P RR
Surgiscope
R RP
R RP
R RP
U SP
U SP
U SP
R RR
R RP
R RP
R RP
R RP
R RP
R RP
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Flexion
Traction / Compression
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Delta
Tricept
S S
S S
R
S S
S SR
S S
S S
R
C R
Surgiscope
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(x,y,z,a,b,c)IKM: closed form
FKM :
Few nice cases with closed form
Often: numerical resolution (polynomial of 4th, 8th , 16th , ... order)
(Drive #1,
Drive #2,Drive #n)
Two options for numerical solving:
Solving the polynomial ( all solutions, computation cost)
Looking for ONE solution ( fast, instability risk)
thresholdaccuracyeifstop
eJxxqqe
JJJJJx
xmgiqx
k
mesur
qxqx
...
.
),(
)(
000100
1000
000
PID MachineIKM
PID Machine
FKM
1J
q
estimatedx
x
x
measuredq
measuredq
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ROBODOCCASPAR
Zeus
Da Vinci
Neuromate
ACROBOT
Surgisc
ope
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-20
0
20
40
60
80
100
0 0,4 0,8 1,2 1,6 2
Temps en s
Efforts
en
N
20 000 tr/mn
40 000 tr/mn
60 000 tr/mn
0
5
10
15
20
25
30
35
40
45
0 2 4 6
Temps en S
Eff
orts
en
N
40 000 Tours/min
60 000 Tours/min
75 000 Tours/min
0
1
2
3
4
5
6
7
8
9
5 10 15 20 25 30
Force (N)
Displacement(mm)
+ x
+y
- z
-20
-15
-10
-5
0
5
10
15
20
0,01 0,11 0,21 0,31 0,41 0,51 0,61 0,71 0,81 0,91
time (s)
acceleration(m/s2)
x
y
z
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