Memorias de investigación
Artículos en revistas:
Kinematic analysis of a novel 2-d.o.f. orientation device
Año:2012
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
Datos
Descripción
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 orientation device 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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Robotics and Autonomous Systems
ISSN
0921-8890
Factor de impacto JCR
1,056
Información de impacto
Volumen
60
DOI
10.1016/j.robot.2012.01.010
Número de revista
6
Desde la página
852
Hasta la página
861
Mes
JUNIO
Ranking
Q2
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial