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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CITATION STYLE
Saafi, H., Laribi, M. A., Arsicault, M., & Zeghloul, S. (2016). Kinematic models of a new spherical parallel manipulator used as a master device. In Mechanisms and Machine Science (Vol. 37, pp. 161–169). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-319-22368-1_16
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