Forward Kinematics Simulation for a Surgical Robot Using CATIA5

摘要

Forward Kinematic simulation of a 6 DOF surgical robot tracking a path through the constraint of the Remote Center of Motion point (RCM) is developed in this paper. Theoretical calculations of the forward kinematics are analyzed by solving the configuration kinematic equations of the robot. CAD prototype of the surgical robot and the patient are created using CATIA5 part and assembly tools. The theoretical results are validated through a Kinematic simulation of CATIA kinematics. The simulation results confirm the usefulness of the six revolute joint robots in minimally invasive surgery (MIS) and the efficiency of using the power full CATIA5 software to simulate surgical robot, and checking the robot mechanism capability of doing surgical procedures.