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AUTHOR(S): M. F Al Hinnawi, N. Hussain
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ABSTRACT This project is aimed at designing and developing a "Robotic Arm for medical therapy, biological and other practical Applications" using a special controller. It combines electronic and electrical knowledge. The control panel is used to control all the activities. It is capable of controlling a laser head or any other light source, input devices, such as a digital camera application, are used with a proposed laser depth sensor to follow our target. The design of a robotic arm is suitable to work with three dimensions with ease, which is not too bulky and compatible to use for those applications. However, this arm should be re-programmable according to the applications to be used for regular scanning of radiation with homogeneous dose by a laser head or LED (light emitting diode) that is attached to this arm in order to apply the different treatments without any human error. The number of degrees of freedom corresponds to the number of independent position variables that would have to be specified in order to locate all parts of the mechanism; thus, it refers to the number of different ways in which a robotic arm can move in a particular direction. We depended on the safety and efficacy of the polyethylene terephthalate glycol (PETG) material in order to create the robotic arm parts individually, those parts of the conventional and the dynamic load were measured with a load cell. In this project, we needed to convert Cartesian equations into cylindrical for three-dimension applications. We found that, the arm angle is related to the two elements that are microstep by driving circuit and the used gears ratio. Engine accuracy using stepper motors and driving circuit was certified with high precision (ET, 3N.M). Engine torque was selected by some testes about gravity center and the friction of the robotic arm parts, driver step (0.28±0.01 mm) and the arm angle (0.01125ᵒ±0.0001) were related to driving circuit and the used gears ratio. Auto-scan program may be used in order to select, scan and treat the special case of many targets with different sizes and forms at the same time and individually. An example of this is skin cancer treatment using photodynamic therapy by this robotic arm. In conclusion, the results of the parameters and the designed robotic arm in this project were carefully selected in order to have a regular radiation scanning on a processed sample for a selected radiation dose with high resolution. Those results were very useful for different medical treatments and many research applications. |
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KEYWORDS Engine torque, regular scanning, stepper motor, PETG |
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Cite this paper M. F Al Hinnawi, N. Hussain. (2024) Designing a Robotic Arm with Special Parameters in order to have a Homogeneous Radiation Dose for Several Research Applications. International Journal of Oncology and Cancer Therapy, 5, 1-4 |
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