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�������պ����ѧѧ�� 2005, Vol. 31 Issue (07) :748-752    DOI:
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�������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083
Analysis of kinematics and dexterity for new surgery robot
Tang Can, Yun Chao, Luan Sheng*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Based on the requirement of clinical application, the structure characteristic of minimally invasive neurosurgery assisted robot was analyzed. Space kinematics model of robot was founded. The fact that reverse solution of the robot has analytic solution was confirmed. The correctness of reverse solution was validated via VC simulation program. Simultaneously some key problem in founding space kinematics model of robot was argued. Three methods of dexterity analysis were presented, and the freedom of robot dexterity was defined, the dexterity of robot wrist was analyzed. With concept of posture sphere, wrist dexterity definition of the five degree-of-freedom robot was proposed; boundary expression of vector tool posture sphere was presented. Analysis method of wrist dexterity was proposed, the distribution of robot dexterity area was determined and provided by MATLAB simulation analysis. With the help of kinematics and dexterity analysis, reliable reference can be supplied for structure design, and the foundation of realization of robot control function would be established.
Keywords�� neurosurgery   robots   kinematics   wrist dexterity     
Received 2004-10-30;


About author: �� ��(1973-),��,����������,��ʿ��, tangcenwxj@me.buaa.edu.cn.
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Tang Can, Yun Chao, Luan Sheng.Analysis of kinematics and dexterity for new surgery robot[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(07): 748-752
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