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
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;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977222
