TY - GEN
T1 - The experimental study of a precision parallel manipulator with binary actuation
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
AU - Tadakuma, K.
AU - DeVita, L. M.
AU - Plante, J. S.
AU - Shaoze, Y.
AU - Dubowsky, S.
PY - 2008/9/18
Y1 - 2008/9/18
N2 - In this paper the performance of a high-precision parallel robot manipulator with bistable actuation is experimentally evaluated. The manipulator is for performing prostate cancer biopsy and treatment within the bore of a Magnetic Resonance Imaging (MRI) system. The analysis and simulations have shown that this bistable manipulator is able to perform well with dielectric elastomer actuators that have been shown to be compatible with the high magnetic fields of an MRI. In this work an experimental prototype system was developed and tested. The results show that it provides the precise needle placement required by the medical task.
AB - In this paper the performance of a high-precision parallel robot manipulator with bistable actuation is experimentally evaluated. The manipulator is for performing prostate cancer biopsy and treatment within the bore of a Magnetic Resonance Imaging (MRI) system. The analysis and simulations have shown that this bistable manipulator is able to perform well with dielectric elastomer actuators that have been shown to be compatible with the high magnetic fields of an MRI. In this work an experimental prototype system was developed and tested. The results show that it provides the precise needle placement required by the medical task.
UR - http://www.scopus.com/inward/record.url?scp=51649090202&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2008.4543589
DO - 10.1109/ROBOT.2008.4543589
M3 - Conference contribution
AN - SCOPUS:51649090202
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2503
EP - 2508
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -