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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

ISBN: 978-989-8111-31-9

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.

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Paper citation in several formats:
Pisla D.; Vaida C.; Plitea N.; Hesselbach J.; Raatz A.; Simnofske M.; Burisch A.; Vlad L. and (2008). MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 194-201. DOI: 10.5220/0001500201940201

@conference{icinco08,
author={Doina Pisla and Calin Vaida and Nicolae Plitea and Jürgen Hesselbach and Annika Raatz and Marc Simnofske and Arne Burisch and Liviu Vlad},
title={MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={194-201},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500201940201},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY
SN - 978-989-8111-31-9
AU - Pisla, D.
AU - Vaida, C.
AU - Plitea, N.
AU - Hesselbach, J.
AU - Raatz, A.
AU - Simnofske, M.
AU - Burisch, A.
AU - Vlad, L.
PY - 2008
SP - 194
EP - 201
DO - 10.5220/0001500201940201

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