Authors:
Doina Pisla
1
;
Calin Vaida
1
;
Nicolae Plitea
1
;
Jürgen Hesselbach
2
;
Annika Raatz
2
;
Marc Simnofske
2
;
Arne Burisch
2
and
Liviu Vlad
3
Affiliations:
1
Technical University of Cluj-Napoca, Romania
;
2
Technical University of Braunschweig, Institute of Machine Tools and Production Technology, Germany
;
3
University of Medicine and Pharmacy “Iuliu Hatieganu”, Surgery Clinic III, Romania
Keyword(s):
Parallel robots, Minimally invasive surgery, Modeling, Simulation, Kinematics, Workspace.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Surgery is one of the fields where robots have been introduced due to their positioning accuracy which exceed the human capabilities. Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications. In the paper is presented the modeling and simulation of a new parallel robot, based on an innovative structure, used in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The robot kinematics, singular position identification and workspace generation are illustrated. Using the developed virtual model of the parallel robot, some simulation tests are presented.