Peter P. Pott, Markus L. R. Schwarz, Achim Wagner, Essameddin Badreddin



Robotic systems are used within a great variety of medical disciplines. A handheld robot promises a number of advantages compared to conventional (medical) robots but this approach leads to strict specifications regarding size, weight and dynamic properties. A new hybrid kinematics – the Epizactor – seems to be advantageous and is compared to two well-known parallel kinematics regarding the ratio of workspace and volume the number of kinematic elements, the cost of computation, the stiffness the effects of clearance, actuation (weight), and accuracy using a well-described industrial method for comparison. It becomes clear that the Epizactor has advantages concerning the ratio of workspace and volume, needs a smaller number of kinematic elements and fewer computations, and has less than half the mass than the parallel kinematics. Its accuracy, stiffness and the effects of clearance are comparable. The advantages of this new kinematic set-up lead to a first deployment within the field of medical robotics.


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Paper Citation

in Harvard Style

P. Pott P., L. R. Schwarz M., Wagner A. and Badreddin E. (2008). COMPARATIVE STUDY OF ROBOT-DESIGNS FOR A HANDHELD MEDICAL ROBOT . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 103-110. DOI: 10.5220/0001494001030110

in Bibtex Style

author={Peter P. Pott and Markus L. R. Schwarz and Achim Wagner and Essameddin Badreddin},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},

in EndNote Style

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
SN - 978-989-8111-31-9
AU - P. Pott P.
AU - L. R. Schwarz M.
AU - Wagner A.
AU - Badreddin E.
PY - 2008
SP - 103
EP - 110
DO - 10.5220/0001494001030110