Singularity analysis of a 7-DOF spatial hybrid manipulator for medical surgery
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Sameer Gupta
Abstract
This paper presents the singularity analysis of a 7-degrees of freedom (DOF) hybrid manipulator consisting of a closed-loop within it. From the past studies, it is well-known that the kinematic singularities play a significant role in the design and control of robotic manipulators. Kinematic singularities pose two-fold effects – first, they can induce the loss of one or more DOF of the manipulator and cause infinite joint rates at that particular joint, and second, they help to determine the trajectory or zone with high mechanical advantage. In current work, a 7-DOF hybrid manipulator is considered which is being developed at Council Of Scientific And Industrial Research–Central Scientific Instruments Organisation (CSIR–CSIO) Chandigarh to assist a surgeon during a medical-surgical task. To emulate the natural motion of a surgeon, the challenging configuration with redundant DOF is utilized. Jacobian has been computed analytically and analyzed at each instantaneous configuration with the evaluation of manipulability. Effect of a closed loop in the hybrid configurations is focused at, and utilizing the contour plots, good and worst working zones are identified in the workspace of the manipulator. The verification and validation of best and worst manipulability points (singularities) are done with the help of genetic algorithms, to determine locally and globally optimal configurations. Finally, on the basis of the singularity analysis, the present work concludes with few guidelines to the surgeon about the best and worst working zones for surgical tasks.
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Author contribution: All the authors have accepted responsibility for the entire content of this submitted manuscript and approved submission.
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Research funding: None declared.
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Conflict of interest statement: The authors declare no conflicts of interest regarding this article.
References
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Articles in the same Issue
- Frontmatter
- Original Research Articles
- Dynamics of synthetic drug transmission models
- Collision-induced amplitude dynamics of pulses in linear waveguides with the generic nonlinear loss
- Global dissipativity of non-autonomous BAM neural networks with mixed time-varying delays and discontinuous activations
- On the inverse problem for nonlinear strongly damped wave equations with discrete random noise
- A second-order nonlocal regularized variational model for multiframe image super-resolution
- Algebro-geometric integration of a modified shallow wave hierarchy
- Singularity analysis of a 7-DOF spatial hybrid manipulator for medical surgery
- Propagation of diffusing pollutant by kinetic flux-vector splitting method
- Limit cycles in a tritrophic food chain model with general functional responses
- Local and parallel stabilized finite element methods based on full domain decomposition for the stationary Stokes equations
- Stress concentration effect on deflection and stress fields of a master leaf spring through domain decomposition and geometry updation technique
- Electrostatically actuated double walled piezoelectric nanoshell subjected to nonlinear van der Waals effect: nonclassical vibrations and stability analysis
- Traveling wave solutions of the generalized Rosenau–Kawahara-RLW equation via the sine–cosine method and a generalized auxiliary equation method
- A predictor–corrector compact finite difference scheme for a nonlinear partial integro-differential equation
- Parameter inference with analytical propagators for stochastic models of autoregulated gene expression
- DCSK performance analysis of a chaos-based communication using a newly designed chaotic system
- On successive linearization method for differential equations with nonlinear conditions
- Comparison of different time discretization schemes for solving the Allen–Cahn equation
- The homoclinic breather wave solution, rational wave and n-soliton solution to a nonlinear differential equation
- Diversity of interaction phenomenon, cross-kink wave, and the bright-dark solitons for the (3 + 1)-dimensional Kadomtsev–Petviashvili–Boussinesq-like equation
