Title :
A 3T2R parallel and partially decoupled kinematic architecture
Author :
Malosio, Matteo ; Negri, S.P. ; Pedrocchi, Nicola ; Vicentini, Federico ; Tosatti, Lorenzo Molinari
Author_Institution :
Inst. of Ind. Technol. & Autom., Milan, Italy
Abstract :
This paper presents a parallel and partially decoupled mechanism characterized by three translational and two rotational degrees of freedom. A set of parallel kinematic chains actuates five degrees of freedom of the mobile platform and constrains one of its rotations. Its kinematics combines advantages typical of parallel architectures, as high dynamics, with positive aspects of partially decoupled ones, in terms of mechanical design, control and motion planning, through a relatively simple direct kinematic formulation. The presented architecture constitutes the mechanical heart of a robotic prototype designed to actively support the patient´s head in open-skull awake surgery.
Keywords :
design engineering; medical robotics; mobile robots; path planning; robot kinematics; surgery; 3T2R parallel kinematic architecture; kinematic formulation; mechanical design; mobile platform; motion planning; open-skull awake surgery; parallel architectures; parallel kinematic chains; partially decoupled kinematic architecture; partially decoupled mechanism; robotic prototype; rotational degrees of freedom; translational degrees of freedom; Angular velocity; Couplings; Equations; Joints; Kinematics; Mobile communication; Vectors;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696389