A six-degree-of-freedom parallel manipulator with three planarly actuated links

Author

Ben-Horin, Ronen ; Shoham, Moshe

Author_Institution

Dept. of Mech. Eng., Technion-Israel Inst. of Technol., Haifa, Israel

Volume

3

fYear

1997

fDate

7-11 Sep 1997

Abstract

The experimental model described exhibits the simple parallel robot design due to very few moving parts. The simple structure does not diminish its performances. On the contrary, it increases considerably its work volume, simplifies the kinematic solution and makes the robot very simple to construct. The robot has been tested in two applications: high-precision grinding of micro-pipette and manipulation of surgical tool in laparoscopic operations. We believe that this type of parallel robot is very attractive for several industrial (e.g. assembly) applications as well as and non-industrial (e.g. medical) applications due to its unique combination of large work volume with high accuracy

Keywords

grinding; machining; manipulator kinematics; surgery; 6-DOF parallel manipulator; kinematics; laparoscopic operations; planarly actuated links; precision grinding; Interference; Manipulators; Mechanical engineering; Medical robotics; Motion control; Parallel robots; Planar motors; Robot kinematics; Robotic assembly; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.656807

Filename

656807