Title :
Forward kinematics and workspace analysis of a 3-RPS medical parallel robot
Author :
Ciprian-Radu Rad;Sergiu-Dan Stan;Radu Bălan;Ciprian Lapusan
Author_Institution :
Dept. of Mechanisms, Precision Mechanics and Mechatronics, Technical University of Cluj-Napoca, Romania
Abstract :
The paper addresses the analysis of forward kinematics of a 3-DOF medical parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using MATLAB/Simulink. Forward kinematics is solved numerically using Newton-Kantorovich (N-K) method and then is verified with a 1:1 CAD model through SimMechanics Toolbox from MATLAB/Simulink. Also the workspace of the robot is determined through forward kinematics equations.
Keywords :
"Kinematics","Parallel robots","Medical robotics","Computational geometry","MATLAB","Mathematical model","Equations","Manipulators","Robotics and automation","Mechatronics"
Conference_Titel :
Automation Quality and Testing Robotics (AQTR), 2010 IEEE International Conference on
Print_ISBN :
978-1-4244-6724-2
DOI :
10.1109/AQTR.2010.5520867
