一种用于微创胰腺手术的创新并联机器人的设计分析
Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
AI总结：
本文针对微创胰腺手术提出ATHENA-1和ATHENA-2两种四自由度并联机器人构型，通过有限元刚度仿真和工作空间定量分析选出最优构型，为后续实验模型开发提供依据。
摘要：
本文聚焦于一种面向机器人辅助微创胰腺手术的并联机器人设计。提出了两种备选构型，分别称为ATHENA-1和ATHENA-2，各具有4个自由度（DOF）。文中给出了它们的运动学方案，并展示了概念性三维CAD模型。在此基础上，进行了两次有限元法（FEM）仿真，以确定哪种构型具有更高的刚度。还进行了工作空间定量分析，以进一步评估两种所提并联构型在医疗任务中的可用性。所得结果用于选择符合所需设计准则的构型，并将用于开发该手术机器人的实验模型。
英文摘要：
This paper focuses on the design of a parallel robot designed for robotic assisted minimally invasive pancreatic surgery. Two alternative architectures, called ATHENA-1 and ATHENA-2, each with 4 degrees of freedom (DOF) are proposed. Their kinematic schemes are presented, and the conceptual 3D CAD models are illustrated. Based on these, two Finite Element Method (FEM) simulations were performed to determine which architecture has the higher stiffness. A workspace quantitative analysis is performed to further assess the usability of the two proposed parallel architectures related to the medical tasks. The obtained results are used to select the architecture which fit the required design criteria and will be used to develop the experimental model of the surgical robot.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
