Workspace analysis in the design parameter space of a 2-DOF spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery
نویسندگان
چکیده
During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to confined spaces micro-manipulations. The purpose of paper is design a robot with prescribed regular workspace shape handle an endoscope assist surgery. A spherical parallel mechanism two degrees freedom analysed in its parameter space. This composed three legs (2USP-U) connect base moving platform connected double parallelogram create remote center motion (RCM). Its kinematic properties, i.e. singularity locus number direct solutions, are investigated. For some parameters, non-singular assembly modes changing trajectories may exist have be investigated inside shape. Two sets parameters presented their advantages disadvantages.
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2021
ISSN: ['1873-3999', '0094-114X']
DOI: https://doi.org/10.1016/j.mechmachtheory.2020.104224