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.

Autore Pugliese

• Negri Simone Pio

Tutti gli autori

• Malosio M.; Negri S.P.; Pedrocchi N.; Vicentini F.; Molinari Tosatti L.

Titolo volume/Rivista

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems

Anno di pubblicazione

2013

ISSN

2153-0858

ISBN

9781467363587

Numero di citazioni Wos

Nessuna citazione

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Numero di citazioni Scopus

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Settori ERC

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Codici ASJC

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