Clamping dexterity on manipulator and simulation of laparoscopic robot

As an important indicator of the robot performance, the clamping dexterity is researched to develop the advantage of the robot. Using the theory of the unit ball, analysing the object(linear object) clamped by the manipulator of the laparoscopic robot, the posture of the clamping object and the relation between them when the manipulator clamp the object are described in expression. Then, the kinematics of laparoscopic robot manipulator is researched, and the parse expression of the manipulator posture which satisfies requirement that the manipulator clamp the object of the random posture at a clamping point can be deduced. It means that, using the expression, the best posture of clamping can be gotten. So, with the definition of the clamping dexterity, the procedure algorithm is given by the unit ball. Applying this algorithm on the minimally invasive Laparoscopic robot manipulator, it can be confirmed by simulation test with SimMechanics.

I. Introduction

Dexterity refers to the ability that terminal tool possibly obtains when the reference point of the robot terminal is a spot in the workspace [1]. By researching dexterity space, the track of robot can be well Planned [2]. But the dexterity can't reflect the clamping capability of robot well [3]. So this article educe parse expression of the needed posture of manipulator hand when clamping random posture object at some clamping point through analyze end posture of manipulator and clamping object posture and relation of both at clamping point when manipulator hand clamping object. According this we bring out conception of clamping dexterity which use for reflect clamping capability of manipulator at this point, take Laparoscopic for example, analyze discrete point clamping dexterity at this machine working space. And confirm agility space use for clamping and we emulate it.