Abstract
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a high precision measuring arm for position (for repeatability). The accuracy was obtained by comparing the trajectory data from the experimental measurement with a baseline trajectory defined with the kinematic models of the parallel robotic system. The repeatability was experimentally determined by moving (repeatedly) the robot platform in predefined points.
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Acknowledgements
This work was supported by the project New smart and adaptive robotics solutions for personalized minimally invasive surgery in cancer treatment—ATHENA, funded by European Union—NextGenerationEU and Romanian Government, under National Recovery and Resilience Plan for Romania, contract no. 760072/23.05.2023, code CF 116/15.11.2022, through the Romanian Ministry of Research, Innovation and Digitalization, within Component 9, investment I8 and by a grant of the Ministry of Research, Innovation and Digitization, CNCS/CCCDI—UEFISCDI, project number PN-III-P2-2.1-PED-2021-2790 694PED—Enhance, within PNCDI III.
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Pisla, D. et al. (2024). Accuracy and Repeatability of a Parallel Robot for Personalised Minimally Invasive Surgery. In: Pisla, D., Carbone, G., Condurache, D., Vaida, C. (eds) Advances in Service and Industrial Robotics. RAAD 2024. Mechanisms and Machine Science, vol 157. Springer, Cham. https://doi.org/10.1007/978-3-031-59257-7_20
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DOI: https://doi.org/10.1007/978-3-031-59257-7_20
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