This paper presents a parallel and partially decoupled mechanism characterized by three translational and two rotational degrees of freedom. A set of parallel kinematic chains actuates five degrees of freedom of the mobile platform and constrains one of its rotations. Its kinematics combines advantages typical of parallel architectures, as high dynamics, with positive aspects of partially decoupled ones, in terms of mechanical design, control and motion planning, through a relatively simple direct kinematic formulation. The presented architecture constitutes the mechanical heart of a robotic prototype designed to actively support the patient's head in open-skull awake surgery. © 2013 IEEE.
A 3T2R parallel and partially decoupled kinematic architecture
Malosio Matteo;Negri Simone Pio;Pedrocchi Nicola;Vicentini Federico;Molinari Tosatti Lorenzo
2013
Abstract
This paper presents a parallel and partially decoupled mechanism characterized by three translational and two rotational degrees of freedom. A set of parallel kinematic chains actuates five degrees of freedom of the mobile platform and constrains one of its rotations. Its kinematics combines advantages typical of parallel architectures, as high dynamics, with positive aspects of partially decoupled ones, in terms of mechanical design, control and motion planning, through a relatively simple direct kinematic formulation. The presented architecture constitutes the mechanical heart of a robotic prototype designed to actively support the patient's head in open-skull awake surgery. © 2013 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.