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Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery*

  • Doina Pisla (a1), Bogdan Gherman (a1), Calin Vaida (a1) and Nicolae Plitea (a1)

Summary

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.

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Corresponding author. E-mail: bogdangherman@gmail.com

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*

The scientific contribution is equally divided between the authors.

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Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery*

  • Doina Pisla (a1), Bogdan Gherman (a1), Calin Vaida (a1) and Nicolae Plitea (a1)

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