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Journal articles
Workspace Analysis in the Design Parameter Space of a 2-DOF Spherical Parallel Mechanism for a Prescribed Workspace: Application to the Otologic Surgery
Abstract : During Otologic surgery, and more broadly during microsurgery, the surgeon encounters several difficulties due to the confined spaces and micro-manipulations. The purpose of the paper is to design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery. A spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space. This mechanism is composed of three legs (2USP-U) to connect the base to a moving platform connected to a double parallelogram to create a remote center of motion (RCM). Its kinematic properties, i.e. the singularity locus and the number of direct kinematic solutions, are investigated. For some design parameters, non-singular assembly modes changing trajectories may exist and have to be investigated inside the prescribed regular workspace shape. Two sets of design parameters are presented with their advantages and disadvantages.
https://hal.archives-ouvertes.fr/hal-03106584
Contributor : Damien Chablat <>
Submitted on : Monday, January 11, 2021 - 10:27:39 PM
Last modification on : Tuesday, February 2, 2021 - 4:49:10 PM
Contributor : Damien Chablat <>
Submitted on : Monday, January 11, 2021 - 10:27:39 PM
Last modification on : Tuesday, February 2, 2021 - 4:49:10 PM
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