Design, Fabrication and Realization of a Parallel Microrobot at the Millimeter Scale for Minimally Invasive Surgery

The parallel mechanism actuatedbypiezoelectricactuators possesses remarkable advantages of high precision, large stiffness,and excellent dynamic characteristics, and can be integrated to miniature size, thus has great potentials in the application of minimally invasive surgery. A piezo-actuated para...

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Veröffentlicht in:	Ji xie gong cheng xue bao 2024-01, Vol.60 (17), p.147
Hauptverfasser:	Tian, Bo, Lou, Junqiang, Shen, Jiaxu, Liu, Li, Cheng, Tehuan, Li, Guoping, Wei, Yanding
Format:	Artikel
Sprache:	chi ; eng
Schlagworte:	Bionics Dynamic characteristics Fabrication Flapping wings Jacobi matrix method Jacobian matrix Laminates Laminating Laparoscopy Laser beam cutting Laser machining Linkage mechanisms Micromachining Microrobots Parallelograms Piezoelectric actuators Piezoelectricity Root-mean-square errors Stiffness Surgery Three dimensional composites Tracking Velocity Jacobians Vertical orientation
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