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Keywords: micromanipulator
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Journal Articles

Design of Position Estimator for Rope Driven Micromanipulator of Surgical Robot Based on Parameter Autonomous Selection Model

Wenjie Wang, Jie Wang, Congcong Chen, Yang Luo, Xiaohua Wang, Lingtao Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041005.
Paper No: JMR-22-1292
https://doi.org/10.1115/1.4062464
Published Online: June 5, 2023
...Wenjie Wang; Jie Wang; Congcong Chen; Yang Luo; Xiaohua Wang; Lingtao Yu As the micromanipulator of surgical robots works in a narrow space, it is difficult to install any position sensors at the end, so the position control and position detection cannot be accurately performed. A position...
View Article titled, Design of Position Estimator for Rope Driven <span class="search-highlight">Micromanipulator</span> of Surgical Robot Based on Parameter Autonomous Selection Model
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Topics: Design, Errors, Robots, Ropes, Surgery, Algorithms, Engineering prototypes, Robustness, Position control
Journal Articles

Relationship Among Input-Force, Payload, Stiffness, and Displacement of a 6-DOF Perpendicular Parallel Micromanipulator

Yi Yue, Feng Gao, Xianchao Zhao, Q. Jeffrey Ge
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011007.
https://doi.org/10.1115/1.4000525
Published Online: November 24, 2009
...Yi Yue; Feng Gao; Xianchao Zhao; Q. Jeffrey Ge Micromanipulators play an important role in the precision engineering field from optical stages to micro-electromechanical systems for their excellent performances. In this paper, a 6-DOF perpendicular parallel micromanipulator (PPMM) is proposed...
View Article titled, Relationship Among Input-Force, Payload, Stiffness, and Displacement of a 6-DOF Perpendicular Parallel <span class="search-highlight">Micromanipulator</span>
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Topics: Actuators, Bending (Stress), Displacement, End effectors, Finite element methods, Manipulators, Simulation, Stiffness, Finite element model, Hinges