The positioning stand could help the surgeon to position and lock endoscopic tools without the need for an assistant surgeon. The kinematic con guration of the positioning stand is comprised of two main parts, the arm (for positioning) and the wrist (for orienting the tool). The main requirement of the wrist is to perform spherical movements around the incision point. A concentric multi-link sp...

In this paper, the singularity loci of the Gough-Stewart platform are studied and a graphical representation of these loci in the manipulator’s workspace is obtained. The algorithm presented is based on analytical expressions of the determinant of the Jacobian matrix, using two different approaches, namely, linear decomposition and cofactor expansion. The first approach is used to assess the ef...

An optical-based motion sensing system has been developed for real-time sensing of instrument motion in micromanipulation. The main components of the system consist of a pair of position sensitive detectors (PSD), lenses, an infrared (IR) diode that illuminates the workspace of the system, a non-reflective intraocular shaft, and a white reflective ball attached at the end of the shaft. The syst...

 Y. Yang, MS student and author of correspondence, Phone: +86-10-8233-8273, Fax: +86-10-8233-8023, Email: [email protected].  Y. Zhang, Professor and author of correspondence, Phone: +86-10-8233-8023, Fax: +86-10-8233-8023, Email: [email protected]. ABSTRACT This paper presents a procedure to obtain a singularity-free task workspace with a new method to deal with singularities. In order to ...

Malleable robots are a type of reconfigurable serial robot capable adapting their topology, through the use variable stiffness malleable links, to desired tasks and workspaces by varying relative positioning between revolute joints. However, reconfiguration is nontrivial, lacking intuitive communication human robot, method efficiently aligning end effector position. In this article, we present ...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

Abstract The knowledge on office building in the past and present, how workspace evolved to incorporate contemporary technological breakthroughs, was this paper combined with goals of sustainable a “smart” design Belgrade, Serbia, taking local factors into consideration create comfortable space for employees dense urban matrix minimal environmental footprint, considering workflow spaces, it’s m...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

In a previous work, we demonstrated that orientation of the hand in the horizontal plane (azimuth) at the time of grasping depends on the direction of the reaching movement in the horizontal plane. Here we report three experiments to further investigate the generality of this coupling. Azimuth of the hand for grasping was studied while subjects were reaching for objects placed at various locati...