DocumentCode :
3631779
Title :
Kinematics analysis, workspace, design and control of 3-RPS and TRIGLIDE medical parallel robots
Author :
Dan Verde;Sergiu-Dan Stan;Milos Manic;Radu Balan;Vistrian Matie
Author_Institution :
Dept. of Mechatronics, Technical University of Cluj-Napoca, Romania
fYear :
2009
Firstpage :
103
Lastpage :
108
Abstract :
Parallel robots find many applications in human-systems interaction, medical robots, rehabilitation, exoskeletons, to name a few. These applications are characterized by many imperatives, with robust precision and dynamic workspace computation as the two ultimate ones. This paper presents kinematic analysis, workspace, design and control to 3 degrees of freedom (DOF) parallel robots. Parallel robots have received considerable attention from both researchers and manufacturers over the past years because of their potential for high stiffness, low inertia and high speed capability. Therefore, the 3 DOF translation parallel robots provide high potential and good prospects for their practical implementation in human-systems interaction.
Keywords :
"Kinematics","Parallel robots","Medical robotics","Mechatronics","Application software","Exoskeletons","Robustness","Manufacturing","Virtual reality","Computer science"
Publisher :
ieee
Conference_Titel :
Human System Interactions, 2009. HSI ´09. 2nd Conference on
ISSN :
2158-2246
Print_ISBN :
978-1-4244-3959-1
Electronic_ISBN :
2158-2254
Type :
conf
DOI :
10.1109/HSI.2009.5090962
Filename :
5090962
Link To Document :
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