Observatorio de I+D+i UPM

Memorias de investigación
Research Publications in journals:
Kinematic analysis of a novel 2-d.o.f. orientation device
Year:2012
Research Areas
  • Electric engineers, electronic and automatic (eil)
Information
Abstract
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.
International
Si
JCR
Si
Title
Robotics and Autonomous Systems
ISBN
0921-8890
Impact factor JCR
1,056
Impact info
Volume
60
10.1016/j.robot.2012.01.010
Journal number
6
From page
852
To page
861
Month
JUNIO
Ranking
Q2
Participants
  • Autor: Jose Rolando Serracín (U. T. Panamá)
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Autor: Rafael Aracil Santonja (UPM)
Research Group, Departaments and Institutes related
  • 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
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
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