Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1017/S0263574711001299 | Robotica |
Keywords | DocType | Volume |
5-dof hybrid parallel robot,clear benefit,laparoscopic surgery,serial structure,simulation result,different variant,kinematic modelling,freedom hybrid parallel architecture,Robotic-assisted surgery,experimental model,best variant,robot workspace | Journal | 30 |
Issue | ISSN | Citations |
7 | 0263-5747 | 1 |
PageRank | References | Authors |
0.36 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Doina Pisla | 1 | 2 | 5.14 |
| Bogdan Gherman | 2 | 4 | 3.48 |
| Calin Vaida | 3 | 3 | 4.17 |
| Nicolae Plitea | 4 | 5 | 4.06 |