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5DOF Mechanism for Vertebral Surgery Kinematic Analysis and Velocity Calculation

  • V. A. Glazunov
  • G. S. Filippov
  • A. B. LastochkinEmail author
  • M. Ceccarelli
  • S. A. Skvortsov
  • G. V. Rashoyan
  • A. K. Aleshin
  • K. A. Shaluhin
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

The article describes 5DOF mechanism for vertebral surgery. The mechanism is designed as a robot with parallel structure – the working instrument is located on the platform with two orthogonal slides with actuators they provide translation within the carrying frame plane which is connected to the base via three cinematic chains. The paper contains the kinematic analysis of the mechanism and velocity calculation based on Gosselin-Angeles approach.

Keywords

5DOF parallel structure mechanism vertebral surgery 

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Notes

Acknowledgements

This work was supported by the RFFI grant #16-29-04273.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • V. A. Glazunov
    • 1
  • G. S. Filippov
    • 1
  • A. B. Lastochkin
    • 1
    Email author
  • M. Ceccarelli
    • 2
  • S. A. Skvortsov
    • 1
  • G. V. Rashoyan
    • 1
  • A. K. Aleshin
    • 1
  • K. A. Shaluhin
    • 1
  1. 1.Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN)MoscowRussian Federation
  2. 2.University of Cassino Viale dell’UniversitàCassinoItaly

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