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1800s Mathematician Augustine Cauchy studies rigidity of polygons 1947 Dr. Eric Gough applies the parallel kinematic platform to a tire testing machine developed working under Dunlop. 1962 Klaus Cappel develops vibration equipment for Franklin Institute. 1965 Stewart platform developed for aircraft simulation. 1995 Frauhofer Institute in Stuttgart, Germany approaches Physik Instrumente to develop the surgical robot.
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(a)
(b)
Fig.1. 1949-2000 (a)The original Dunlop tire testing machine invented by Eric Gough, (b) The modern tire testing machine.
March 18, 2003
Hexapod Structures in Surgical Applications ME 250 - Precision Mechanism Design
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(b)
Fig.2. 1965 -1970 (a)The original Stewart Platform for aircraft simulation, (b)
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Fig.3. 6 DOF motion achieved through 6 strut linear actuators. The resulting rapid,
submicron multi-axis translation and rotation makes the hexapod ideal for precision surgical applications.
March 18, 2003
Hexapod Structures in Surgical Applications ME 250 - Precision Mechanism Design
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c = 3 x 6 x 4 = 72
M = 6(14 1) 72 = 6 DoF
March 18, 2003
Hexapod Structures in Surgical Applications ME 250 - Precision Mechanism Design
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8 25 13 1 0.5
20 45 25 2 1
1.4
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Extra legs contain redundant sensors Insures against failure of standard measuring system Reliability increase is of the essence
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Minimize Friction, hysteresis, and backlash Improve material composition to limit thermal growth Actuators A future in the voice coil? Currently, applications are limited to endoscopy.
Incorporate use of scissors, forceps, balloon catheters and coagulation probes. Endorse the use of a cockpit to create a virtual surgery environment Expand to the fields of orthopedics, ear/nose/throat surgery, and ophthalmology.
Hexapod Structures in Surgical Applications ME 250 - Precision Mechanism Design
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Avallone, E.A., Baumeister III, T., Marks Standard Handbook for Mechanical Engineers 10th Edition, McGraw-Hill, New York, 1996 Hale, Layon C., Principles and Techniques for Designing Precsion Machines, UCRL-LR-133066, Lawrence Livermore National Laboratory, 1999. Smith, S.T., Chetwynd, D.G., Foundations of Ultraprecision Mechanism Design, Gordon and Breach Science Publishers, Switzerland, 1992. Low-Inertia Parallel-Kinematics Systems for Submicron Alignment and Handling (http://www.parallemic.org/Reviews/Review012.html) Why Hexapods and Parallel Kinematics? (http://www.hexapods.net/hexapod.htm)
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Six DOF Hexapod: Challenge of Design and Innovation (http://biotsavart.tripod.com/hexapod.htm) Surgeon Navigates from Operating Cockpit (http://www.hoise.com/vmw/articles/LV-VM-05-98-17.html) History of the Universal Joint (http://www.driveshafts.com/ujoint.html) M-850 Hexapod 6-Axis Parallel Kinematics Robot (http://www.physikinstrumente.com/micropositioningsystems/8_4. html)
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