Kinematic design and dynamic analysis of a medical parallel manipulator for chest compression task

被引：0
作者：
Li, Yangmin [1 ]
Xu, Qingsong [1 ]
机构：
[1] Univ Macau, Dept Electromech Engn, Fac Sci & Technol, Taipa, Macao, Peoples R China
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS | 2006年
关键词：
medical robot; parallel manipulators; dynamics; cardiopulmonary resuscitation;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The kinematic design of a medical parallel manipulator used for chest compressions in the process of cardiopulmonary resuscitation (CPR) is presented in this paper. According to the requirements of CPR action from medical viewpoints, a 3-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such applications. The dynamic modeling is performed for the 3-PRS PM by two different approaches of Lagrangian formulation and virtual work principle utilizing a simplification hypothesis. Simulation results verify the accuracy of the derived dynamic equations quantitatively, and demonstrate the rationality of the adopted simplified hypothesis. The research work presented here provides a sound base to develop a new medical manipulator to assist in CPR operation, which is expected to reduce the workload of doctors in rescuing patients significantly.
引用
收藏
页码：693 / +
页数：2
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