• DocumentCode
    3636663
  • 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
  • Volume
    1
  • fYear
    2010
  • Firstpage
    1
  • Lastpage
    6
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Automation Quality and Testing Robotics (AQTR), 2010 IEEE International Conference on
  • Print_ISBN
    978-1-4244-6724-2
  • Type

    conf

  • DOI
    10.1109/AQTR.2010.5520867
  • Filename
    5520867
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3636663