採血支援システムにおける三脚型穿刺ロボットの位置・姿勢の運動学に関する研究
抄録
<p> In order to reduce errors in blood collection, blood collection support systems have been developed that enable accurately. However, previous prototype systems were large and could be intimidating to patients. The purpose of this study is to develop a beetle-sized (40 × 40 × 40 mm) puncture robot that can be put on the arm. In our previous study, we aimed to reduce the size of the robot by introducing a parallel link mechanism that simulates the body structure of a mosquito. However, the motor tends to be large to operate the joints sufficiently. To solve this problem, we decided to use a linear actuator. The kinematics of a 4-DOF parallel link with rotational and prismatic joints was developed, and modeling and simulation were performed using the dynamics simulator (ODE : Open Dynamics Engine). The simulations confirmed that the robot has motion range required for puncture motion.</p>
収録刊行物
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- 生体医工学
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生体医工学 Annual61 (Abstract), 313_2-313_2, 2023
公益社団法人 日本生体医工学会
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詳細情報 詳細情報について
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- CRID
- 1390017345590690688
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- ISSN
- 18814379
- 1347443X
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
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- 抄録ライセンスフラグ
- 使用不可