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Dynamic modeling and VR Simulation of 3DOF medical parallel robots

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Technological Developments in Education and Automation

Abstract

The paper presents dynamic modeling and VR (virtual reality) simulation issues for two 3 DOF medical parallel robots with three coupled motions (Orthoglide robot and with one coupled motion, robot of type 2PRRR+1PRPaR). Kinematical and dynamical models, followed by a VR application with control aspects are presented for these robots. The innovative user interface for high-level control of the two parallel robots, presented in the paper, was developed in MATLAB - Simulink and SimMechanics environment. This kind of parallel robots can be successfully applied for medical applications where accuracy and high dynamic behavior are required. This research will lay a good foundation for the development of medical parallel robots.

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References

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This work was supported by the Ministry of Education from Romania and Research grant PARTENERIATE no. 3280 entitled ’Complex mechatronics systems for medical applications’.

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Authors and Affiliations

  1. Department of Product Design and Robotics, University ‘Transilvania’ of Brasov, Brasov, Romania

    Nadia Ramona Raţ, Mircea Neagoe & Dorin Diaconescu

  2. Department of Mechatronics, Technical University of Cluj-Napoca, Cluj Napoca, Romania

    Sergiu Dan Stan & Radu Bălan

Authors
  1. Nadia Ramona Raţ
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  2. Mircea Neagoe
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  3. Dorin Diaconescu
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  4. Sergiu Dan Stan
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  5. Radu Bălan
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Corresponding author

Correspondence to Nadia Ramona Raţ .

Editor information

Editors and Affiliations

  1. Dept. Civil & Environmental Engineering, Polytechnic University, Jay Street 333, Brooklyn, 11201, U.S.A.

    Magued Iskander

  2. Dept. Civil & Environmental Engineering, Polytechnic University, Jay Street 333, Brooklyn, 11201, U.S.A.

    Vikram Kapila

  3. Old Dominion University, Monarch Way 4111, Norfolk, 23508, U.S.A.

    Mohammad A. Karim

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© 2010 Springer Science+Business Media B.V.

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Raţ, N.R., Neagoe, M., Diaconescu, D., Stan, S.D., Bălan, R. (2010). Dynamic modeling and VR Simulation of 3DOF medical parallel robots. In: Iskander, M., Kapila, V., Karim, M. (eds) Technological Developments in Education and Automation. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-3656-8_55

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