Design of a drive unit for a new single port surgical robot with 12 degrees of freedom

摘要

In this paper we present a novel approach to set up the manipulators of a single port robot by introducing a unique parallel kinematic structure. A solution to the inverse kinematic problem is presented in detail. Using a linearisation process the elements of the Jacobian matrix and its derivative are determined. Concering the worst case the results are used to map the kinematic and dynamic requirements given in tool center point (TCP) coordinates to the joint space. With the obtained values a suitable motor is selected. Further more the design of the linear stage that can move and rotate a rod and measure the axial forces is given.