Journal
ROBOTICA
Volume 30, Issue -, Pages 1095-1107Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574711001299
Keywords
Parallel hybrid robot; Minimally invasive surgery; Kinematics; Simulation
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Funding
- Romanian Ministry of Education, Research, Youth and Sport, the project Development and support of multidisciplinary postdoctoral programmes in major technical areas of national strategy of Research - Development - Innovation 4D- POSTDOC [POSDRU/89/1.5/S/52603]
- Scopes International Grant Creative Alliance in Research and Education focused on Medical and Service Robotics (CARE- Robotics) [IZ74Z0-137361]
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Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.
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