Kinematic Design of Double Pantographic Linkage for the Tele-Echography on Intra-Incubated Newborns

• Main Authors: Chia-Yu Hsieh, 謝佳育
• Other Authors: Térence Essomba
• Format: Others
• Language: en_US
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/q23p3w

碩士 === 國立中央大學 === 機械工程學系 === 107 === Some newborns requiring particular care are placed in a neonatal incubator, in order to monitor their brain development, the doctor will perform an intracranial ultrasound examination of the baby. Due to the high repetition of this clinical care, the remotely operated robotic system is designed to assist doctors with this task and improve the quality of the inspection process. This study aims to design a mechanical structure that meets the needs of motion, and is able to grasp the ultrasonic probe into the incubator to inspect the baby. First of all, the motion posture data of the ultrasonic probe operation is captured to analyze the kinematic requirement. A mechanical architecture based on two combined pantographic linkages is proposed. The first pantographic mechanism performs the linear positioning of the end effector around a remote center of motion. The second one provides its angular position of the ultrasound probe around another remote center of motion. The forward and inverse kinematic models are calculated to study the linear and angular positioning of the mechanism. A series of kinematic simulations are performed to validate these models. Finally, complete the mechanism design, calculate the required torque for each shaft to select the motor. Produce control panel, use the Arduino program to control the motor to actuate the mechanism.