Kuznecova

pp. 696-707

This article presents a simulation of kinetostatics of a 7-DOF surgical robotic manipulator by the example of sternotomy. Motion of the robot is performed along a predetermined path in the global coordinate system. The numerical simulation was conducted in MATLAB^®Robotics Toolbox + Simulink^® program package. The same motion was investigated in SolidWorks^® for calculating flexibility matrices with the use of the finite-element method. Flexibility matrices for the point of load application were found for 11 successive positions of the robot. Compliance matrices were obtained using ABAQUS CAE® software.