The Kinematic Analysis Of Four Degrees Of Freedom For A Medical Robot And Control It By Labview And Arduino Mega2560 (Simulation And Implementation)
الموضوعات :
1 - Automatic Control,Technical Engineering,tartous,syria
الکلمات المفتاحية: Labview, medical robot, Arduino Mega 2560, Key words: Kinetic study, four degrees freedom,
ملخص المقالة :
ABSRACTThis study presents the kinematic analysis of a four-degree freedom medical robotic arm using the Matlab and the robotic-tool, the arm was designed using a solid work program, As well as details of the control of the real design of this arm using Arduino Mega 2560, The specialist enters the position to be reached by the automatic arm (injection position), Or moving the arm to any position by entering the values of the corners of the joints, In this search, we have moved the arm to the selected position Without injecting into the muscle which need another study and a medical sensor determines the amount of needle entry in the muscle, According to criteria determined by the specialist and can be added to the designed interface.Key words: Kinetic study, medical robot, four degrees freedom, Labview, Arduino Mega 2560.Key words: Kinetic study, medical robot, four degrees freedom, Labview, Arduino Mega 2560.
1. Corke, P. Resources for robotics education. 2017; Available from: http://petercorke.com/wordpress/.
2. Kucuk, S. and Z. Bingul, Robot kinematics: Forward and inverse kinematics. 2006: INTECH Open Access Publisher.
3. Wikipedia. Robot Kinematics. 2017; Available from: http://www.wikipedia.com.
4. NPTEL. 2017; Available from: http://nptel.ac.in/courses/112101098/3.
5. Crowder, R., Automation and robotics. Tactile Sensing, 1998; Available from: http://www.springer.com/cda/content/document/cda_downloaddocument/9789400705784-c2.pdf?sgwid=0-0-45-1338704-p174080776.
6. Lipkin, H. A note on Denavit-Hartenberg notation in robotics. in ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 2005. American Society of Mechanical Engineers Digital Collection.
7. Friedman, D., Kinematic and dynamic analysis of a surgical robot positioning arm. 2008, University of Washington, Department of Mechanical Engineering.
8. Owen, T., Introduction to Robotics: Mechanics and Control by John J. Craig Addison-Wesley Publishing Company, Massachusetts, USA, 1986,(£ 17.95. Robotica, 1988. 6(2): p. 164-165; Available from: https://www.cambridge.org/core/journals/robotica/article/introduction-to-robotics-mechanics-and-control-by-craigjohn-jaddison-wesley-publishing-company-massachusetts-usa-1986-1795-student-hardback-edition/F49C1EC125E0B6E029E1099D249104E1#.
9. Spong, M.W., S. Hutchinson, and M. Vidyasagar, Forward kinematics: the denavit-hartenberg convention. Robot Dynamics and Control, 2nd ed.; John Wiley & Sons: New York, NY, USA, 2004: p. 57-82.
10. Melek, W., ME 547: robot manipulators: kinematics, dynamics, and control. Waterloo, ON, 2010.
11. Tsai, L.-W., Robot analysis: the mechanics of serial and parallel manipulators. 1999: John Wiley & Sons.
12. Zhang, D. and J. Lei, Kinematic analysis of a novel 3-DOF actuation redundant parallel manipulator using artificial intelligence approach. Robotics and Computer-Integrated Manufacturing, 2011. 27(1): p. 157-163; Available from: https://www.sciencedirect.com/science/article/abs/pii/S0736584510000827.
13. Durmuş, B., H. Temurtaş, and A. Gün. An inverse kinematics solution using particle swarm optimization. in International advanced technologies symposium. 2011.
14. Hayawi, M.J., Analytical inverse kinematics algorithm of a 5-DOF robot arm. Journal of Education for Pure Science, 2011. 1(4): p. 92-104; Available from: https://www.iasj.net/iasj?func=article&aId=19522.
15. Stewart, D., A platform with six degrees of freedom. Proceedings of the institution of mechanical engineers, 1965. 180(1): p. 371-386; Available from: https://journals.sagepub.com/doi/abs/10.1243/pime_proc_1965_180_029_02.
