Kinematic analysis of a novel 2-d.o.f. orientation device

Serracín, Jose Rolando and Puglisi, Lisandro Jose and Saltaren Pazmiño, Roque and Ejarque Rinaldini, Gonzalo and Sabater Navarro, José M. and Aracil Santonja, Rafael (2012). Kinematic analysis of a novel 2-d.o.f. orientation device. "Robotics and Autonomous Systems", v. 60 (n. 6); pp. 852-861. ISSN 0921-8890. https://doi.org/10.1016/j.robot.2012.01.010.

Description

Title: Kinematic analysis of a novel 2-d.o.f. orientation device
Author/s:
  • Serracín, Jose Rolando
  • Puglisi, Lisandro Jose
  • Saltaren Pazmiño, Roque
  • Ejarque Rinaldini, Gonzalo
  • Sabater Navarro, José M.
  • Aracil Santonja, Rafael
Item Type: Article
Título de Revista/Publicación: Robotics and Autonomous Systems
Date: June 2012
ISSN: 0921-8890
Volume: 60
Subjects:
Freetext Keywords: Wrist mechanism; Parallel platform; Surgical robots; Maxillofacial surgery
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientation device located at the end of a robotic arm designed for bone milling processes. A generic kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material.

More information

Item ID: 16463
DC Identifier: http://oa.upm.es/16463/
OAI Identifier: oai:oa.upm.es:16463
DOI: 10.1016/j.robot.2012.01.010
Official URL: http://www.sciencedirect.com/science/article/pii/S092188901200022X
Deposited by: Memoria Investigacion
Deposited on: 12 Feb 2014 17:55
Last Modified: 21 Apr 2016 16:46
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