DocumentCode
2117098
Title
Workspace analysis of a parallel manipulator with one redundant DOF for skull-base surgery
Author
Bai, Shaoping ; Teo, Ming Yeong ; Ng, Wan Sing ; Sim, Charlie
Author_Institution
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Volume
3
fYear
2001
fDate
2001
Firstpage
1694
Abstract
A parallel manipulator can be used for medical operations for its high stiffness and motion accuracy. However, the small and oddly distributed workspace of the general manipulator limits its applications. In this paper, a special manipulator which has a redundant degree of freedom (the 7-DOF) is introduced to improve the workspace. The workspace of the manipulator was analyzed with respect to the selected orientations. Two configurations of the 7-DOF were considered. The preliminary result of the analysis shows that the workspace of the manipulator can be effectively improved with the redundant degree of freedom
Keywords
manipulator kinematics; medical robotics; redundant manipulators; surgery; inverse kinematics; parallel manipulator; skull-base surgery; workspace analysis; Biomedical optical imaging; Concurrent computing; Drilling; Kinematics; Leg; Manipulators; Motion control; Parallel robots; Surgery; Surges;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.977222
Filename
977222
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