A Complete Analysis of Singularities of a Parallel Medical Robot

  • Josef Schadlbauer
  • Calin Vaida
  • Paul Tucan
  • Doina Pisla
  • Manfred Husty
  • Nicolae Plitea
Chapter
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 4)

Abstract

This paper analyzes the singular poses of a 5-DOF parallel robot used for brachytherapy. In compliance with the latest safety protocols and requirements [3] the paper presents a new mathematical model using algebraic constraints and the Study parameterization of the Euclidian displacement group. Using algebraic methods combined with multidimension geometry proved to be efficient in the calculation of the kinematics of mechanisms and in the explanations of their behavior. The results obtained using this algebraic method were analyzed with respect to the data obtained from the experimental model of the robot by comparing theoretical computation results with the actual behavior of the robot. The analysis of the kinematics using these methods allows a complete description of working modes, singularities and robot behavior enabling a safe control throughout the medical task.

Keywords

Singularity Kinematics Study parameters Algebraic constraints Parallel robot Safe medical robot 

Notes

Acknowledgements

This paper was supported by the Project no. 173/2012, code PN-II-PCCA-2011-3.2-0414, entitled “Robotic assisted brachytherapy, an innovative approach of inoperable cancers - CHANCE”, financed by UEFISCDI, as well as the Austrian-Romanian WTZ project RO 06/2014 (UEFISCDI Code: 745/2014)

References

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Josef Schadlbauer
    • 1
  • Calin Vaida
    • 2
  • Paul Tucan
    • 2
  • Doina Pisla
    • 2
  • Manfred Husty
    • 1
  • Nicolae Plitea
    • 2
  1. 1.Unit Geometry and CADUniversity InnsbruckInnsbruckAustria
  2. 2.Technical University of Cluj-NapocaCesterRomania

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