Title :
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
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;
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
DOI :
10.1109/IROS.1997.656807
