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Kinematic Models of a New Spherical Parallel Manipulator Used as a Master Device

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Robotics and Mechatronics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 37))

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Abstract

The paper discusses the kinematic models of a new spherical parallel manipulator (new SPM). The new SPM is obtained by replacing one leg of a classic 3-RRR SPM. It is used as a master device for a teleoperation system for Minimally Invasive Surgery (MIS). This device controls a surgical robot (slave). The inverse and forward models of the new SPM are studied. Those models are needed to control the motions of the slave robot. A prototype of the new SPM is presented in the end of the paper.

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References

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Acknowledgments

This research is supported by the Poitou-Charentes region 2007–2013 (program project 10 Images and interactivities), in partnership with the European Union (FEDER/ERDF, European Regional Development Fund) and ROBOTEX, the French national network of robotics platforms (\( N^{ \circ } \) ANR-10-EQPX-44-01).

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Authors and Affiliations

  1. Department GMSC, Pprime Institute CNRS - University of Poitiers - ENSMA, UPR 3346, Poitiers, France

    H. Saafi & M. Arsicault

  2. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    M. A. Laribi & S. Zeghloul

Authors
  1. H. Saafi
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  2. M. A. Laribi
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  3. M. Arsicault
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  4. S. Zeghloul
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Corresponding author

Correspondence to H. Saafi .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Med Amine Laribi

  3. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Jean-Pierre Gazeau

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© 2016 Springer International Publishing Switzerland

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Saafi, H., Laribi, M.A., Arsicault, M., Zeghloul, S. (2016). Kinematic Models of a New Spherical Parallel Manipulator Used as a Master Device. In: Zeghloul, S., Laribi, M., Gazeau, JP. (eds) Robotics and Mechatronics. Mechanisms and Machine Science, vol 37. Springer, Cham. https://doi.org/10.1007/978-3-319-22368-1_16

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  • DOI: https://doi.org/10.1007/978-3-319-22368-1_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22367-4

  • Online ISBN: 978-3-319-22368-1

  • eBook Packages: EngineeringEngineering (R0)

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