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Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance

Abstract:

In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial-parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton-Raphson formulation and a constraint function of the mechanism. The input-output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of ±45°, ±40°, ±60° along the x, y, z axes respectively. © 2013 Elsevier B.V. All rights reserved.