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Descripción
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| This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientationdevice located at the end of a robotic arm designed for bone milling processes. A generic kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material. | |
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Internacional
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Si |
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JCR del ISI
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Si |
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Título de la revista
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Robotics And Autonomous Systems |
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ISSN
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0921-8890 |
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Factor de impacto JCR
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1,313 |
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Información de impacto
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Datos JCR del año 2010 |
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Volumen
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60 |
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DOI
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10.1016/j.robot.2012.01.010 |
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Número de revista
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6 |
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Desde la página
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852 |
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Hasta la página
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861 |
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JUNIO |
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Ranking
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