Showing papers by "Doina Pisla published in 2007"

On kinematics of a parallel robot used for the minimally invasive surgery

Abstract: One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures. The paper presents the kinematics of an innovative parallel structure for the manipulation of surgical instruments in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The equations, which model the kinematics are pointed out for this robot based on its mathematically determined functional parameters. The results of the kinematical modeling are systematically presented and lead to the facile solving of the parallel structure. Some simulation results have been presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

Graphical simulation of a new concept of low sized surgical parallel robot for camera guidance in minimally invasive surgery

Abstract: Robotic systems have been developed in every field where a further progress was constricted due to the human limitations in terms of speed, precision, fatigue, repeatability, strength, safety etc. One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures which aim the treatment of a disease with minimum damage to healthy tissue and suffering for the patient [1], [2]. The paper presents a complex simulation system used for the study of the characteristics of a new low sized parallel robot used for minimally invasive surgery (MIS). (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

New development of parallel robots and microrobots with three, four and five degrees of freedom

Abstract: All over the world it can be noticed that product miniaturisation is a central theme in product development for different application areas. In robotics scientific research, one of the most important approaches is concerning the increase of the positioning accuracy by the use of parallel structures [3], [4], [5]. In this paper some variants of parallel robots and micro-robots with three, four and five degrees of freedom are presented, which are used for manipulation within high precision assembling processes. The corresponding kinematic models have been developed. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

Considerations regarding the geometrical modeling of parallel mini-manipulators with triangle platform

Abstract: Parallel kinematic structures have a series of advantages that makes them adequate for the minirobots and micro-robots construction: actuator positioning on the seating, miniaturisation, stiffness, positioning precision and repeatability, actuators separation from the workspace. For such reason, more and more parallel mechanisms with specified number and type of degrees of freedom have been proposed. In this paper is presented a comparative study of the geometrical models for two guided in three points parallel mechanisms types having three degrees of freedom, so called parallel manipulators of “a” and respectively “b” type. These two mechanisms types differ only through the level on which the passive spherical joints are located. The complications which occur in the geometrical model are illustrated when the spherical joints are not located on the mobile plate level. Some simulation results within a complex simulation system, which has been developed, are presented at the end of the paper.The main contribution of this work is the achievement of a unitary approach regarding some classes of 3 d.o.f. parallel minimanipulators with triangular platform. The obtained results have shown that in the case of ‘a” type mechanisms the expressions for the geometrical model and the implicit equations form is more simple than in the case of “b” type mechanisms.

Aspects on synthesis and modeling of the parallel mini-robots and micro-robots

Abstract: All over the world it can be noticed that the product miniaturisation is a central theme in product development for different application areas. In robotics scientific research one of the most important approaches is concerning the raise of the positioning accuracy by the use of parallel structures. The progress of the industrial production, especially the development of the industrial robotics is more and more based on a new generation of robots based on closed kinematic chains mechanisms, the parallel robots. In the paper are presented a structural synthesis of the parallel robots which leads to some variants of parallel mini-robots and micro-robots with different degrees of freedom. These parallel robots are used for manipulation within the high precision assembling processes. Some parallel robots were developed the geometric virtual models by using the Solid Edge virtual modeling software packages. Based on the corresponding geometric models, the modeled solutions are

On-pump modular systemfor automated adjustment and control for axial piston pumps

Abstract: Department of Machine-Tools and Industrial Robots, TU Cluj-Napoca, C. Daicoviciu Str. 15, RO-400020 Cluj-Napoca,Romania.Axial piston pumps are the most widely used pumps in hydraulic actuation systems. Their technical characteristics make themthe best option for most applications starting from industrial machine tools, up to mobile equipments. Thus, the optimizationof their functional parameters and their control within the system is of great importance [1], [4]. The paper presents theconstruction of a modular measuring and control head (developed by the authors) mounted directly on the pump whichensures the automated achievement of any type of control: flow, pressure, power or their combinations.