Kinematic Comparisons of Hybrid Mechanisms for Bone Surgery: 3-PRP-3-RPS and 3-RPS-3-PRP

This paper proposes an approach to derive the Jacobian matrix of a hybrid mechanism by applying velocity operator transformation matrix. is capable deducing singularities, which cannot be identified using screw-based or velocity-based Jacobian. The was obtained based on algebraic geometry approach, and it becomes key point since used not only formulate matrix, but also define motion type mechanisms. In this paper, two mechanisms were investigated, composed distinct parallel mounted in series. Hybrid Mechanisms 1 2 3-PRP-3-RPS 3-RPS-3-PRP (the underlined P actuated joint), respectively. types determined from product matrices 3-PRP 3-RPS mechanisms, vice versa. developed method employed establish conditioning index applied. Therefore, kinematic performances can compared for given bone surgery trajectory within workspace. It turns out that Mechanism has superior performance than 2, indicates better at transmitting power moving platform.