Observatorio de I+D+i UPM

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 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.
Internacional	Si
JCR del ISI	Si
Título de la revista	Robotics And Autonomous Systems
ISSN	0921-8890
Factor de impacto JCR	1,313
Información de impacto	Datos JCR del año 2010
Volumen	60
DOI	10.1016/j.robot.2012.01.010
Número de revista	6
Desde la página	852
Hasta la página	861
Mes	JUNIO
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Esta actividad pertenece a memorias de investigación

• Autor: Lisandro Jose Puglisi . (UPM)
• Autor: José Rolando Serracín Pittí (UPM)
• Autor: Roque Jacinto Saltaren Pazmiño (UPM)
• Autor: Gonzalo Emmanuel Ejarque Rinaldini (UPM)
• Autor: José María Sabater-Navarro (Universidad Miguel Hernandez)
• Autor: Rafael Aracil Santonja (UPM)

• Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial