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EnglishIn this paper the concept of a serial-parallel macro-milli manipulator is presented for medical applications by investigating the feasibility of combining two different robotic structures into one system. The combination of the two structures can be used as a redundant system in which stiffness, singularity and accuracy can be optimized as related to workspace demands and restrictions that are required for a-priori selected medical applications. A case study has been experienced at LARM (Laboratory of Robotics and Mechatronics) in Cassino through a new system composed of a commercial Adept COBRA and CaPaMan2bis (Cassino Parallel Manipulator 2bis). The performance of this system is compared with a previous serial-parallel macro-milli robotic system also developed at LARM in Cassino. Experimental tests have been carried out in order to characterize the proposed systems.
| Titolo: | A Serial-Parallel Robotic Architecture for Surgical Tasks |
| Autori: | |
| Data di pubblicazione: | 2005 |
| Rivista: | |
| Abstract: | In this paper the concept of a serial-parallel macro-milli manipulator is presented for medical applications by investigating the feasibility of combining two different robotic structures into one system. The combination of the two structures can be used as a redundant system in which stiffness, singularity and accuracy can be optimized as related to workspace demands and restrictions that are required for a-priori selected medical applications. A case study has been experienced at LARM (Laboratory of Robotics and Mechatronics) in Cassino through a new system composed of a commercial Adept COBRA and CaPaMan2bis (Cassino Parallel Manipulator 2bis). The performance of this system is compared with a previous serial-parallel macro-milli robotic system also developed at LARM in Cassino. Experimental tests have been carried out in order to characterize the proposed systems. |
| Handle: | http://hdl.handle.net/11580/13049 |
| Appare nelle tipologie: | 1.1 Articolo in rivista |
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