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Singularity Analysis and Geometric Optimization of a 6-DOF Parallel Robot for SILS

The paper presents the singularity analysis and the geometric optimization of a 6-DOF (Degrees of Freedom) parallel robot for SILS (Single-Incision Laparoscopic Surgery). Based on a defined set of input/output constraint equations, the singularities of the parallel robotic system are determined and...

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Principais autores: Doina Pisla, Iosif Birlescu, Nicolae Crisan, Alexandru Pusca, Iulia Andras, Paul Tucan, Corina Radu, Bogdan Gherman, Calin Vaida
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2022-09-01
Serier:Machines
Fag:
parallel robot
singularity analysis
geometric optimization
single-incision laparoscopic surgery
Online adgang:https://www.mdpi.com/2075-1702/10/9/764
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