Simulation verification and finite element analysis of Raven-II

Zhikun Rao; Xinzui Wang; Fucheng Cao; Hui Fu

doi:10.1117/12.3003787

11 October 2023 Simulation verification and finite element analysis of Raven-II

Zhikun Rao, Xinzui Wang, Fucheng Cao, Hui Fu

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 1280007 (2023) https://doi.org/10.1117/12.3003787
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

Raven-II is a multifunctional surgical robot mainly used for minimally invasive surgery. This article aims to provide innovative ideas for Raven-II research through simulation verification and finite element analysis. Firstly, this article conducts SolidWorks 3D modeling of Raven-II and completes the model reproduction of the robot structure. Through the research and simple exposition of Raven II's kinematics analysis, a new method for solving the forward kinematics analysis is used in Python, which provides a new idea for robot research. The dynamics simulation of Raven-II was conducted in ADAMS simulation software, and its workspace and working mode were determined to meet the requirements of minimally invasive surgery, verifying the correctness of Raven-II structural design. Finally, finite element analysis and modal analysis were conducted on key components of the robot using ANSYS.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Zhikun Rao, Xinzui Wang, Fucheng Cao, and Hui Fu "Simulation verification and finite element analysis of Raven-II", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 1280007 (11 October 2023); https://doi.org/10.1117/12.3003787

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available