In:
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, SAGE Publications, Vol. 233, No. 11 ( 2019-06), p. 3827-3836
Abstract:
This paper presents a novel miniature robotic arm with four degrees of freedom and one end-effector. The two joints of the robotic arm are multiple-segment, which consist of several serial plates with tiny cavities. Kinematic modeling of the robotic arm has been completed for subsequent implementation. With multiple-segment joints, the robotic arm gets smooth, linear, and flexible property. Simulations and experiments show that the robot can be used in abdominal single-port minimally invasive surgery for its unique operation capability.
Type of Medium:
Online Resource
ISSN:
0954-4062
,
2041-2983
DOI:
10.1177/0954406218810304
Language:
English
Publisher:
SAGE Publications
Publication Date:
2019
detail.hit.zdb_id:
2024890-8
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