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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2410.00481 |
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| _version_ | 1866916417825144832 |
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| author | Meskini, Majdi Saafi, Houssem Mlika, Abdelfattah Arsicault, Marc Zeghloul, Said Laribi, Med Amine |
| author_facet | Meskini, Majdi Saafi, Houssem Mlika, Abdelfattah Arsicault, Marc Zeghloul, Said Laribi, Med Amine |
| contents | This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large workspace of the serial robots. The optimal synthesis of the nHH was performed using real-coded genetic algorithms. The optimization criteria and constraints were established and successively formulated and solved using a mono-objective function. A validation and comparison study were performed between the spherical parallel manipulator and the nHH. The obtained results are promising since the nHH is compared to other similar task devices, such as spherical parallel manipulator, and presents a suitable kinematic performance with a task workspace free singularity inside. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_00481 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery Meskini, Majdi Saafi, Houssem Mlika, Abdelfattah Arsicault, Marc Zeghloul, Said Laribi, Med Amine Medical Physics This paper focuses on developing a novel hybrid-haptic (nHH) device with a remote center of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The new architecture is composed of two chains handling each one a part of the motions. It has the advantages of a parallel robot as high stiffness and accuracy, and the large workspace of the serial robots. The optimal synthesis of the nHH was performed using real-coded genetic algorithms. The optimization criteria and constraints were established and successively formulated and solved using a mono-objective function. A validation and comparison study were performed between the spherical parallel manipulator and the nHH. The obtained results are promising since the nHH is compared to other similar task devices, such as spherical parallel manipulator, and presents a suitable kinematic performance with a task workspace free singularity inside. |
| title | Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery |
| topic | Medical Physics |
| url | https://arxiv.org/abs/2410.00481 |