Open AccessDesign and experimental study of joint torque balance mechanism of seed implantation articulated robot
Author(s) -
Yongde Zhang,
Yi Liang,
Xiaofei Wang,
Yang Xu
Publication year - 2015
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1177/1687814015589479
Subject(s) - revolute joint , cantilever , torque , mechanism (biology) , engineering , displacement (psychology) , simulation , control theory (sociology) , robot , robotics , multibody system , computer science , structural engineering , artificial intelligence , physics , psychology , control (management) , quantum mechanics , psychotherapist , thermodynamics
This article discusses several new mechanisms that may be used in prostate cancer seed implant robotics. We have developed relatively simple but effective mathematical models of multi-needle puncture prostate using nonlinear spring–damper model; based on Automatic Dynamic Analysis of Mechanical Systems or dynamics module, displacement simulation for prostate is performed, and simulation results indicate that the multi-needle puncture mechanism could reduce prostate displacement in the y- or z-direction. Then aiming at the limitation of human body structure space and seed implant needle insertion path, a revolute-revolute-translational-type prostate seed implantation robot with three-dimensional transrectal ultrasound navigation is designed. It is noteworthy that drive torque fluctuation is caused by the center of gravity change of revolute-revolute tandem cantilever structure; an elastic balance mechanism is designed to realize the complete balance of cantilever weight. Based on Automatic Dynamic Analysis of Mechanical Systems or dynamics module, static drive torque simulation of 2-revolute tandem cantilever structure is performed. Finally, we manufacture the robot prototype and make verification experiment to the cantilever balancing device, and the experiment results provide evidence that elastic balance mechanism can realize the complete balance of cantilever weight, improve the fluctuation in the amplitude value of driving torque, and increase its operation stationary of seed implantation robot system