Abstract
Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications, especially surgery. This paper presents the kinematic modeling and a method for workspace generation for a new parallel robot used for minimally invasive surgery. Using the developed model of the parallel robot and the kinematic modeling, some numerical and simulation tests are presented.
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Pisla, D., Plitea, N., Vaida, C. (2008). Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_48
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_48
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8599-4
Online ISBN: 978-1-4020-8600-7
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