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parallel hybrid robot

Robotica (1)

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1 results

Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery *
Doina Pisla, Bogdan Gherman, Calin Vaida, Nicolae Plitea
Journal:

Robotica / Volume 30 / Issue 7 / December 2012

Published online by Cambridge University Press:

10 January 2012, pp. 1095-1107
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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.