Workspace analysis of a parallel manipulator with one redundant DOF for skull-base surgery

Workspace analysis of a parallel manipulator with one redundant DOF for skull-base surgery
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DOI：
10.1109/iros.2001.977222
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发表时间：
2001-10
期刊：
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
影响因子：
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通讯作者：
S. Bai;M. Teo;W. Ng;Charlie Sim
S. Bai;M. Teo;W. Ng;Charlie Sim
中科院分区：
其他
文献类型：
--
作者：
S. Bai;M. Teo;W. Ng;Charlie Sim

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并联机器人具有刚度大、运动精度高等优点，可用于医疗手术。然而，一般机械手的工作空间小且分布奇怪，限制了其应用。本文提出了一种具有冗余自由度（7-DOF）的特殊机械手来改善工作空间。相对于选定的方位的机械手的工作空间进行了分析。考虑了7自由度的两种构型。分析的初步结果表明，冗余自由度可以有效地改善机械手的工作空间。
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.