Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration:

[摘要] The vessels are twisted in a longitudinal 3D space in the lower limbs of humans. Thus, it is difficult to perform an ultrasound scanning examination in this area. In this paper, a new medical parallel robot is introduced to effectively diagnose vessel disease in the lower limbs. The robot's position repeatability and accuracy are evaluated. Furthermore, the robot's accuracy is improved through a calibration process in which the kinematic parameters are identified through a simple identification approach.

[学科分类] 自动化工程

[关键词] Medical Robot;Parallel Robot;Kinematic Calibration;Laser Tracker