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Abstract
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| In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial-parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton-Raphson formulation and a constraint function of the mechanism. The input-output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of +/- 45 degrees, +/- 40 degrees, +/- 60 degrees along the x, y, z axes respectively. (C) 2013 Elsevier B.V. All rights reserved. | |
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International
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Si |
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JCR
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Si |
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Title
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ROBOTICS AND AUTONOMOUS SYSTEMS |
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ISBN
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0921-8890 |
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Impact factor JCR
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1,156 |
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Impact info
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Volume
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61 |
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10.1016/j.robot.2013.02.001 |
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Journal number
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5 |
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From page
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417 |
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To page
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427 |
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Month
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MAYO |
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Ranking
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Q2 |